Related papers: DIPN: Deep Interaction Prediction Network with App…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks,…
We present DPIQN, a deep policy inference Q-network that targets multi-agent systems composed of controllable agents, collaborators, and opponents that interact with each other. We focus on one challenging issue in such systems---modeling…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…
We present a Physics-Informed Neural Network (PINN) to simulate the thermochemical evolution of a composite material on a tool undergoing cure in an autoclave. In particular, we solve the governing coupled system of differential equations…
Coherent imaging through scatter is a challenging task in computational imaging. Both model-based and data-driven approaches have been explored to solve the inverse scattering problem. In our previous work, we have shown that a deep…
Humans excel in grasping objects through diverse and robust policies, many of which are so probabilistically rare that exploration-based learning methods hardly observe and learn. Inspired by the human learning process, we propose a method…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…
Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of…
New algorithms called nudging induced neural networks (NINNs), to control and improve the accuracy of deep neural networks (DNNs), are introduced. The NINNs framework can be applied to almost all pre-existing DNNs, with forward propagation,…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
Deep neural networks provide Reinforcement Learning (RL) powerful function approximators to address large-scale decision-making problems. However, these approximators introduce challenges due to the non-stationary nature of RL training. One…
Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline…
Humans have a remarkable capacity to understand the physical dynamics of objects in their environment, flexibly capturing complex structures and interactions at multiple levels of detail. Inspired by this ability, we propose a hierarchical…
Scene-aware motion synthesis has been widely researched recently due to its numerous applications. Prevailing methods rely heavily on paired motion-scene data, while it is difficult to generalize to diverse scenes when trained only on a few…
Neural-based multi-task learning (MTL) has been successfully applied to many recommendation applications. However, these MTL models (e.g., MMoE, PLE) did not consider feature interaction during the optimization, which is crucial for…