5 papers
AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulation
Hengkai Tan, Yao Feng, Xinyi Mao +5
Learning generalizable manipulation policies hinges on data, yet robot manipulation data is scarce and often entangled with specific embodiments, making both cross-task and cross-p…
Accelerating PDE-Constrained Optimization by the Derivative of Neural Operators
Ze Cheng, Zhuoyu Li, Xiaoqiang Wang +4
PDE-Constrained Optimization (PDECO) problems can be accelerated significantly by employing gradient-based methods with surrogate models like neural operators compared to tradition…
Exploratory Diffusion Model for Unsupervised Reinforcement Learning
Chengyang Ying, Huayu Chen, Xinning Zhou +3
Unsupervised reinforcement learning (URL) aims to pre-train agents by exploring diverse states or skills in reward-free environments, facilitating efficient adaptation to downstrea…
Reference Neural Operators: Learning the Smooth Dependence of Solutions of PDEs on Geometric Deformations
Ze Cheng, Zhongkai Hao, Xiaoqiang Wang +6
For partial differential equations on domains of arbitrary shapes, existing works of neural operators attempt to learn a mapping from geometries to solutions. It often requires a l…
PEAC: Unsupervised Pre-training for Cross-Embodiment Reinforcement Learning
Chengyang Ying, Zhongkai Hao, Xinning Zhou +4
Designing generalizable agents capable of adapting to diverse embodiments has achieved significant attention in Reinforcement Learning (RL), which is critical for deploying RL agen…