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05/23/2023
Video Prediction Models as Rewards for Reinforcement Learning
Specifying reward signals that allow agents to learn complex behaviors i...
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05/02/2023
CALM: Conditional Adversarial Latent Models for Directable Virtual Characters
In this work, we present Conditional Adversarial Latent Models (CALM), a...
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02/19/2023
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning
This work aims to push the limits of agility for bipedal robots by enabl...
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02/02/2023
Synthesizing Physical Character-Scene Interactions
Movement is how people interact with and affect their environment. For r...
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01/31/2023
PADL: Language-Directed Physics-Based Character Control
Developing systems that can synthesize natural and life-like motions for...
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10/10/2022
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
We present a reinforcement learning (RL) framework that enables quadrupe...
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09/12/2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Recent years have seen a surge in commercially-available and affordable ...
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08/01/2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
We address the problem of enabling quadrupedal robots to perform precise...
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05/04/2022
ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters
The incredible feats of athleticism demonstrated by humans are made poss...
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03/28/2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
Training a high-dimensional simulated agent with an under-specified rewa...
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02/01/2022
CIC: Contrastive Intrinsic Control for Unsupervised Skill Discovery
We introduce Contrastive Intrinsic Control (CIC), an algorithm for unsup...
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10/11/2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
Legged robots are physically capable of traversing a wide range of chall...
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04/05/2021
AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control
Synthesizing graceful and life-like behaviors for physically simulated c...
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03/26/2021
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots
Developing robust walking controllers for bipedal robots is a challengin...
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08/13/2020
Offline Meta-Reinforcement Learning with Advantage Weighting
Massive datasets have proven critical to successfully applying deep lear...
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04/02/2020
Learning Agile Robotic Locomotion Skills by Imitating Animals
Reproducing the diverse and agile locomotion skills of animals has been ...
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12/31/2019
Reward-Conditioned Policies
Reinforcement learning offers the promise of automating the acquisition ...
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10/01/2019
Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning
In this paper, we aim to develop a simple and scalable reinforcement lea...
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06/25/2019
Reinforcement Learning with Competitive Ensembles of Information-Constrained Primitives
Reinforcement learning agents that operate in diverse and complex enviro...
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05/23/2019
MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies
Humans are able to perform a myriad of sophisticated tasks by drawing up...
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10/08/2018
SFV: Reinforcement Learning of Physical Skills from Videos
Data-driven character animation based on motion capture can produce high...
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10/01/2018
Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow
Adversarial learning methods have been proposed for a wide range of appl...
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04/17/2018
Terrain RL Simulator
We provide 89 challenging simulation environments that range in difficul...
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04/08/2018
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills
A longstanding goal in character animation is to combine data-driven spe...
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10/18/2017
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
Simulations are attractive environments for training agents as they prov...
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11/03/2016