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In the current level of evolution of Soccer 3D, motion control is a key factor in team's performance. Recent works takes advantages of model-free approaches based on Machine Learning to exploit robot dynamics in order to obtain faster…

We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…

Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

In this paper, we present a new intrinsically motivated actor-critic algorithm for learning continuous motor skills directly from raw visual input. Our neural architecture is composed of a critic and an actor network. Both networks receive…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Multi-goal policy learning for robotic manipulation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Deep Reinforcement Learning is a promising paradigm for robotic control which has been shown to be capable of learning policies for high-dimensional, continuous control of unmodeled systems. However, RoboticReinforcement Learning currently…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code to connect high-level task descriptions and low-level action…