相关论文: Deep Visual Foresight for Planning Robot Motion

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Can we learn robot manipulation for everyday tasks, only by watching videos of humans doing arbitrary tasks in different unstructured settings? Unlike widely adopted strategies of learning task-specific behaviors or direct imitation of a…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…