相关论文: Simulator Predictive Control: Using Learned Task R…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC…

The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging class of dexterity, requiring grasping thin objects, in-hand object rotations, and forceful…

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…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…

Learning-based approaches, particularly reinforcement learning (RL), have become widely used for developing control policies for autonomous agents, such as locomotion policies for legged robots. RL training typically maximizes a predefined…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…