相关论文: Learning Robust Manipulation Skills with Guided Po…

Though reinforcement learning has greatly benefited from the incorporation of neural networks, the inability to verify the correctness of such systems limits their use. Current work in explainable deep learning focuses on explaining only a…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learning (RL). However, these methods often have high…

We study the problem of learning exploration-exploitation strategies that effectively adapt to dynamic environments, where the task may change over time. While RNN-based policies could in principle represent such strategies, in practice…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

Goal-conditioned Reinforcement Learning (RL) aims at learning optimal policies, given goals encoded in special command inputs. Here we study goal-conditioned neural nets (NNs) that learn to generate deep NN policies in form of…

It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an…

Multi-goal policy learning for robotic manipulation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level…

Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and…