5 papers
: Training Robots to Reason in Natural Language via Reinforcement Learning
Lehong Wu, Yuxiao Qu, Zheyuan Hu +4
Reasoning in language allows foundation models to spend more test-time compute on hard problems, such as those requiring decomposition, constraint tracking, and prediction of futur…
RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction
Zheyuan Hu, Robyn Wu, Naveen Enock +4
Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and lon…
SimLauncher: Launching Sample-Efficient Real-world Robotic Reinforcement Learning via Simulation Pre-training
Mingdong Wu, Lehong Wu, Yizhuo Wu +9
Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrat…
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
Jianlan Luo, Zheyuan Hu, Charles Xu +7
In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real…
Yell At Your Robot: Improving On-the-Fly from Language Corrections
Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao +5
Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level plan…