Related papers: Estimator-Coupled Reinforcement Learning for Robus…
We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…
Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…
We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…
Object insertion under tight tolerances ($< \hspace{-.02in} 1mm$) is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent efforts focused on Reinforcement Learning (RL), which often…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
A major challenge in the field of education is providing review schedules that present learned items at appropriate intervals to each student so that memory is retained over time. In recent years, attempts have been made to formulate item…
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…
Object pushing presents a key non-prehensile manipulation problem that is illustrative of more complex robotic manipulation tasks. While deep reinforcement learning (RL) methods have demonstrated impressive learning capabilities using…
This paper describes a deep reinforcement learning (DRL) approach that won Phase 1 of the Real Robot Challenge (RRC) 2021, and then extends this method to a more difficult manipulation task. The RRC consisted of using a TriFinger robot to…
Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…
The ability to prepare a physical system in a desired quantum state is central to many areas of physics such as nuclear magnetic resonance, cold atoms, and quantum computing. Yet, preparing states quickly and with high fidelity remains a…
Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…
Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…
We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator. We show empirical benefits, both in simulation and…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…
We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…
As surgical interventions trend towards minimally invasive approaches, Concentric Tube Robots (CTRs) have been explored for various interventions such as brain, eye, fetoscopic, lung, cardiac and prostate surgeries. Arranged concentrically,…
Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…