相关论文: Learning Inverse Statics Models Efficiently

It has long been hoped that model-based control will improve tracking performance while maintaining or increasing compliance. This hope hinges on having or being able to estimate an accurate inverse dynamics model. As a result, substantial…

Most recent machine learning research focuses on developing new classifiers for the sake of improving classification accuracy. With many well-performing state-of-the-art classifiers available, there is a growing need for understanding…

Learning dynamics from dissipative chaotic systems is notoriously difficult due to their inherent instability, as formalized by their positive Lyapunov exponents, which exponentially amplify errors in the learned dynamics. However, many of…

Using generative models for Inverse Graphics is an active area of research. However, most works focus on developing models for supervised and semi-supervised methods. In this paper, we study the problem of unsupervised learning of 3D…

Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…

Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models with unstructured Non-Parametric…

In this chapter we provide a theoretically founded investigation of state-of-the-art learning approaches for inverse problems from the point of view of spectral reconstruction operators. We give an extended definition of regularization…

Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…

This paper shows how a Graph Neural Network (GNN) can be used to learn an Inverse Kinematics (IK) based on an automatically generated dataset. The generated Inverse Kinematics is generalized to a family of manipulators with the same Degree…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and…

We address the problem of incrementally modeling and forecasting long-term goals of a first-person camera wearer: what the user will do, where they will go, and what goal they seek. In contrast to prior work in trajectory forecasting, our…

Inverse reinforcement learning (IRL) offers a powerful and general framework for learning humans' latent preferences in route recommendation, yet no approach has successfully addressed planetary-scale problems with hundreds of millions of…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

This paper presents a new trajectory replanner for grasping irregular objects. Unlike conventional grasping tasks where the object's geometry is assumed simple, we aim to achieve a "dynamic grasp" of the irregular objects, which requires…

Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…