相关论文: Synthesizing Manipulation Sequences for Under-Spec…

I consider the use of Markov random fields (MRFs) on a fine grid to represent latent spatial processes when modeling point-level and areal data, including situations with spatial misalignment. Point observations are related to the grid cell…

Pairwise Markov Random Fields (MRFs) or undirected graphical models are parsimonious representations of joint probability distributions. Variables correspond to nodes of a graph, with edges between nodes corresponding to conditional…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Semantic segmentation tasks can be well modeled by Markov Random Field (MRF). This paper addresses semantic segmentation by incorporating high-order relations and mixture of label contexts into MRF. Unlike previous works that optimized MRFs…

Training computer vision models usually requires collecting and labeling vast amounts of imagery under a diverse set of scene configurations and properties. This process is incredibly time-consuming, and it is challenging to ensure that the…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

This paper proposes DeepSynth, a method for effective training of deep Reinforcement Learning (RL) agents when the reward is sparse and non-Markovian, but at the same time progress towards the reward requires achieving an unknown sequence…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

In many real-world problems, there is the possibility to configure, to a limited extent, some environmental parameters to improve the performance of a learning agent. In this paper, we propose a novel framework, Configurable Markov Decision…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…

In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of…

This paper presents a hierarchical decision-making framework for autonomous systems operating under uncertainty, demonstrated through autonomous driving as a representative application. Surrounding agents are modeled using Hybrid Markov…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…