相关论文: DDCO: Discovery of Deep Continuous Options for Rob…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

Integrating generative models with action chunking has shown significant promise in imitation learning for robotic manipulation. However, the existing diffusion-based paradigm often struggles to capture strong temporal dependencies across…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

For many space applications, traditional control methods are often used during operation. However, as the number of space assets continues to grow, autonomous operation can enable rapid development of control methods for different space…

Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…

Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Deep reinforcement learning, applied to vision-based problems like Atari games, maps pixels directly to actions; internally, the deep neural network bears the responsibility of both extracting useful information and making decisions based…

In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…

Endoscopic Submucosal Dissection (ESD) is a well-established technique for removing epithelial lesions. Predicting dissection trajectories in ESD videos offers significant potential for enhancing surgical skill training and simplifying the…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training…