相关论文: Rearrangement with Nonprehensile Manipulation Usin…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

In practical applications, we can rarely assume full observability of a system's environment, despite such knowledge being important for determining a reactive control system's precise interaction with its environment. Therefore, we propose…

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…

Despite the high performance achieved by deep neural networks on various tasks, extensive studies have demonstrated that small tweaks in the input could fail the model predictions. This issue of deep neural networks has led to a number of…

Deep Reinforcement Learning has enabled the control of increasingly complex and high-dimensional problems. However, the need of vast amounts of data before reasonable performance is attained prevents its widespread application. We employ…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…

Large-scale online ride-sharing platforms have substantially transformed our lives by reallocating transportation resources to alleviate traffic congestion and promote transportation efficiency. An efficient fleet management strategy not…

Reinforcement learning is a machine learning approach based on behavioral psychology. It is focused on learning agents that can acquire knowledge and learn to carry out new tasks by interacting with the environment. However, a problem…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…

Object Rearrangement is to move objects from an initial state to a goal state. Here, we focus on a more practical setting in object rearrangement, i.e., rearranging objects from shuffled layouts to a normative target distribution without…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Reinforcement learning is concerned with identifying reward-maximizing behaviour policies in environments that are initially unknown. State-of-the-art reinforcement learning approaches, such as deep Q-networks, are model-free and learn to…

Rearrangement-based nonprehensile manipulation still remains as a challenging problem due to the high-dimensional problem space and the complex physical uncertainties it entails. We formulate this class of problems as a coupled problem of…

This paper presents an efficient deep reinforcement learning (DRL) framework for online 3D bin packing (3D-BPP). The 3D-BPP is an NP-hard problem significant in logistics, warehousing, and transportation, involving the optimal arrangement…

In order perform a large variety of tasks and to achieve human-level performance in complex real-world environments, Artificial Intelligence (AI) Agents must be able to learn from their past experiences and gain both knowledge and an…

Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…