相关论文: Experimental Force-Torque Dataset for Robot Learni…

For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies…

Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…

Learning robot skills from scratch is often time-consuming, while reusing data promotes sustainability and improves sample efficiency. This study investigates policy transfer across different robotic platforms, focusing on peg-in-hole task…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…

In manufacturing, assembly tasks have been a challenge for learning algorithms due to variant dynamics of different environments. Reinforcement learning (RL) is a promising framework to automatically learn these tasks, yet it is still not…

A key challenge in robotic manipulation in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown promise in transferring trained policies to new tasks based on…

Connector insertion and many other tasks commonly found in modern manufacturing settings involve complex contact dynamics and friction. Since it is difficult to capture related physical effects with first-order modeling, traditional control…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well as trial-and-error. Here, we aim to minimize the effort…

Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motion. Previous efforts in representation learning do not…

Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving human-level performance when dealing with physically…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Automating the assembly of wire harnesses is challenging in automotive, electrical cabinet, and aircraft production, particularly due to deformable cables and a high variance in connector geometries. In addition, connectors must be inserted…

Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…

In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…