RoHIL adapts human-in-the-loop RL policies to new illumination conditions offline by combining world-model image relighting, illumination-retention replay, and anchored Bellman regularisation, improving shifted-light performance while preserving source performance on four real-robot tasks.
Precise and dexterous robotic manipulation via human-in-the-loop reinforcement learning
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MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.
citing papers explorer
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RoHIL: Robust Human-in-the-Loop Robotic Reinforcement Learning Against Illumination Variations
RoHIL adapts human-in-the-loop RL policies to new illumination conditions offline by combining world-model image relighting, illumination-retention replay, and anchored Bellman regularisation, improving shifted-light performance while preserving source performance on four real-robot tasks.
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MoRI: Mixture of RL and IL Experts for Long-Horizon Manipulation Tasks
MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.