相关论文: Reinforcement Learning of Active Vision for Manipu…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

The significant power of deep learning networks has led to enormous development in object detection. Over the last few years, object detector frameworks have achieved tremendous success in both accuracy and efficiency. However, their…

Tracking an object's 6D pose, while either the object itself or the observing camera is moving, is important for many robotics and augmented reality applications. While exploiting temporal priors eases this problem, object-specific…

We address the problem of learning representations from observations of a scene involving an agent and an external object the agent interacts with. To this end, we propose a representation learning framework extracting the location in…

The presence of objects that are confusingly similar to the tracked target, poses a fundamental challenge in appearance-based visual tracking. Such distractor objects are easily misclassified as the target itself, leading to eventual…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…

Imitation learning seeks to learn an expert policy from sampled demonstrations. However, in the real world, it is often difficult to find a perfect expert and avoiding dangerous behaviors becomes relevant for safety reasons. We present the…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…

We study view-invariant imitation learning by explicitly conditioning policies on camera extrinsics. Using Plucker embeddings of per-pixel rays, we show that conditioning on extrinsics significantly improves generalization across viewpoints…

Inspired by the recent advance of image-based object reconstruction using deep learning, we present an active reconstruction model using a guided view planner. We aim to reconstruct a 3D model using images observed from a planned sequence…

Active learners alleviate the burden of labeling large amounts of data by detecting and asking the user to label only the most informative examples in the domain. We focus here on active learning for multi-view domains, in which there are…

Deep artificial neural networks, trained with labeled data sets are widely used in numerous vision and robotics applications today. In terms of AI, these are called reflex models, referring to the fact that they do not self-evolve or…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…

The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…

Reinforcement learning is a proven technique for an agent to learn a task. However, when learning a task using reinforcement learning, the agent cannot distinguish the characteristics of the environment from those of the task. This makes it…