相关论文: Adapting control policies from simulation to reali…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment…

The ability to segment unknown objects in cluttered scenes has a profound impact on robot grasping. The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream, which…

Being able to quickly adapt to changes in dynamics is paramount in model-based control for object manipulation tasks. In order to influence fast adaptation of the inverse dynamics model's parameters, data efficiency is crucial. Given…

Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulation to actual hardware remains an open challenge due to the…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…

Humans decompose novel complex tasks into simpler ones to exploit previously learned skills. Analogously, hierarchical reinforcement learning seeks to leverage lower-level policies for simple tasks to solve complex ones. However, because…

This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Unlike prior methods that typically rely on domain randomization over a fixed finite set of parameters, the…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Despite the growing interest in robot control utilizing the computation of biological neurons, context-dependent behavior by neuron-connected robots remains a challenge. Context-dependent behavior here is defined as behavior that is not the…

Domain randomisation is a very popular method for visual sim-to-real transfer in robotics, due to its simplicity and ability to achieve transfer without any real-world images at all. Nonetheless, a number of design choices must be made to…

Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…

Large-scale labeled training datasets have enabled deep neural networks to excel on a wide range of benchmark vision tasks. However, in many applications it is prohibitively expensive or time-consuming to obtain large quantities of labeled…