相关论文: Affordance Learning for End-to-End Visuomotor Robo…

Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded platforms remains a major challenge. In this paper, we…

Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent advancement in vision-language models (VLMs) has offered…

End-to-end learning refers to training a possibly complex learning system by applying gradient-based learning to the system as a whole. End-to-end learning system is specifically designed so that all modules are differentiable. In effect,…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

The landscape of Deep Learning has experienced a major shift with the pervasive adoption of Transformer-based architectures, particularly in Natural Language Processing (NLP). Novel avenues for physical applications, such as solving Partial…

Solving complex real-world control tasks often takes multiple tries: if we fail at first, we reflect on what went wrong, and change our strategy accordingly to avoid making the same mistake. In robotics, Vision-Language-Action models (VLAs)…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…

In autonomous embedded systems, it is often vital to reduce the amount of actions taken in the real world and energy required to learn a policy. Training reinforcement learning agents from high dimensional image representations can be very…

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…

We demonstrate the possibility of learning drone swarm controllers that are zero-shot transferable to real quadrotors via large-scale multi-agent end-to-end reinforcement learning. We train policies parameterized by neural networks that are…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…

Affordances - i.e. possibilities for action that an environment or objects in it provide - are important for robots operating in human environments to perceive. Existing approaches train such capabilities on annotated static images or…