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Pre-Training for Robots: Offline RL Enables Learning New Tasks from a Handful of Trials

11 October 2022

Papers citing "Pre-Training for Robots: Offline RL Enables Learning New Tasks from a Handful of Trials"

26 / 26 papers shown

Title
DEAS: DEtached value learning with Action Sequence for Scalable Offline RL Changyeon Kim Haeone Lee Younggyo Seo Kimin Lee Yuke Zhu OffRL 140 0 0 09 Oct 2025
Self-Improving Embodied Foundation Models Seyed Kamyar Seyed Ghasemipour Ayzaan Wahid Jonathan Tompson Pannag R Sanketi Igor Mordatch LM&Ro LRM 144 5 0 18 Sep 2025
floq: Training Critics via Flow-Matching for Scaling Compute in Value-Based RL Bhavya Agrawalla Michal Nauman Khush Agarwal Aviral Kumar OffRL 220 1 0 08 Sep 2025
Latent Policy Steering with Embodiment-Agnostic Pretrained World Models Yiqi Wang Mrinal Verghese Jeff Schneider 241 4 0 17 Jul 2025
Genie Centurion: Accelerating Scalable Real-World Robot Training with Human Rewind-and-Refine Guidance Wenhao Wang Jianheng Song Chiming Liu Jiayao Ma Siyuan Feng ... Modi Shi Xindong He Guanghui Ren Yang Yang Maoqing Yao OffRL 224 6 0 24 May 2025
Temporal Representation Alignment: Successor Features Enable Emergent Compositionality in Robot Instruction Following Vivek Myers Bill Chunyuan Zheng Anca Dragan Kuan Fang Sergey Levine 492 6 0 08 Feb 2025
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with DemonstrationsConference on Learning for Dynamics & Control (L4DC), 2024 Cevahir Köprülü Po-han Li Tianyu Qiu Ruihan Zhao T. Westenbroek David Fridovich-Keil Sandeep Chinchali Ufuk Topcu OffRL 414 1 0 02 Dec 2024
Steering Your Generalists: Improving Robotic Foundation Models via Value GuidanceConference on Robot Learning (CoRL), 2024 Mitsuhiko Nakamoto Oier Mees Aviral Kumar Sergey Levine OffRL 349 48 0 17 Oct 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 490 16 0 27 Sep 2024
TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Junjie Wen Yinlin Zhu Jinming Li Minjie Zhu Kun Wu ... Ran Cheng Yaxin Peng Chaomin Shen Feifei Feng Jian Tang LM&Ro 713 211 0 19 Sep 2024
Offline Reinforcement Learning for Learning to Dispatch for Job Shop SchedulingMachine-mediated learning (ML), 2024 Jesse van Remmerden Zaharah Bukhsh Yingqian Zhang OffRL OnRL 426 2 0 16 Sep 2024
Hand-Object Interaction Pretraining from VideosIEEE International Conference on Robotics and Automation (ICRA), 2024 Himanshu Gaurav Singh Antonio Loquercio Carmelo Sferrazza Jane Wu Haozhi Qi Pieter Abbeel Jitendra Malik 202 35 0 12 Sep 2024
BECAUSE: Bilinear Causal Representation for Generalizable Offline Model-based Reinforcement Learning Hao-ming Lin Wenhao Ding Jian Chen Laixi Shi Jiacheng Zhu Yue Liu Ding Zhao OffRL CML 465 3 0 15 Jul 2024
Affordance-Guided Reinforcement Learning via Visual Prompting Olivia Y. Lee Annie Xie Kuan Fang Karl Pertsch Chelsea Finn OffRL LM&Ro 576 25 0 14 Jul 2024
Investigating Pre-Training Objectives for Generalization in Vision-Based Reinforcement LearningInternational Conference on Machine Learning (ICML), 2024 Donghu Kim Hojoon Lee Kyungmin Lee Dongyoon Hwang Jaegul Choo OffRL 254 3 0 10 Jun 2024
GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot Wenxuan Song Han Zhao Pengxiang Ding Can Cui Shangke Lyu Yaning Fan Donglin Wang OffRL 282 31 0 20 Mar 2024
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning Tian Gao Soroush Nasiriany Huihan Liu Quantao Yang Yuke Zhu 378 12 0 01 Mar 2024
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 418 127 0 27 Nov 2023
Large Language Models for Robotics: A Survey Fanlong Zeng Wensheng Gan Zezheng Huai Lichao Sun Hechang Chen Yongheng Wang Ning Liu Philip S. Yu LM&Ro 362 197 0 13 Nov 2023
Finetuning Offline World Models in the Real WorldConference on Robot Learning (CoRL), 2023 Yunhai Feng Nicklas Hansen Ziyan Xiong Chandramouli Rajagopalan Xiaolong Wang OffRL OnRL 226 31 0 24 Oct 2023
Robot Fleet Learning via Policy MergingInternational Conference on Learning Representations (ICLR), 2023 Lirui Wang Kaiqing Zhang Allan Zhou Max Simchowitz Russ Tedrake 467 5 0 02 Oct 2023
Robot Learning with Sensorimotor Pre-trainingConference on Robot Learning (CoRL), 2023 Ilija Radosavovic Baifeng Shi Letian Fu Ken Goldberg Trevor Darrell Jitendra Malik SSL LM&Ro 263 65 0 16 Jun 2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators Alexander Herzog Kanishka Rao Karol Hausman Yao Lu Paul Wohlhart ... Noah Brown Mrinal Kalakrishnan Julian Ibarz P. Pastor Sergey Levine OffRL 216 36 0 05 May 2023
FastRLAP: A System for Learning High-Speed Driving via Deep RL and Autonomous PracticingConference on Robot Learning (CoRL), 2023 Kyle Stachowicz Dhruv Shah Arjun Bhorkar Ilya Kostrikov Sergey Levine OffRL 189 32 0 19 Apr 2023
Offline Q-Learning on Diverse Multi-Task Data Both Scales And GeneralizesInternational Conference on Learning Representations (ICLR), 2022 Aviral Kumar Rishabh Agarwal Xinyang Geng George Tucker Sergey Levine OffRL 325 67 0 28 Nov 2022
Contrastive Value Learning: Implicit Models for Simple Offline RLConference on Robot Learning (CoRL), 2022 Bogdan Mazoure Benjamin Eysenbach Ofir Nachum Jonathan Tompson SSL OffRL 270 10 0 03 Nov 2022