相关论文: MCP: Learning Composable Hierarchical Control with…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…

Humans are highly efficient learners, with the ability to grasp the meaning of a new concept from just a few examples. Unlike popular computer vision systems, humans can flexibly leverage the compositional structure of the visual world,…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

The compositional structure of language enables humans to decompose complex phrases and map them to novel visual concepts, showcasing flexible intelligence. While several algorithms exhibit compositionality, they fail to elucidate how…

In this paper, we study the implementation of a model predictive controller (MPC) for the task of object manipulation in a highly uncertain environment (e.g., picking objects from a semi-flexible array of densely packed bins). As a…

Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…

Humans excel at applying learned behavior to unlearned situations. A crucial component of this generalization behavior is our ability to compose/decompose a whole into reusable parts, an attribute known as compositionality. One of the…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…

Realistic manipulation tasks require a robot to interact with an environment with a prolonged sequence of motor actions. While deep reinforcement learning methods have recently emerged as a promising paradigm for automating manipulation…

A hallmark of biological intelligence and control is combinatorial generalization: animals are able to learn various things, then piece them together in new combinations to produce appropriate outputs for new tasks. Inspired by the ability…

This paper introduces a novel data-driven hierarchical control scheme for managing a fleet of nonlinear, capacity-constrained autonomous agents in an iterative environment. We propose a control framework consisting of a high-level dynamic…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Many variability management techniques rely on sophisticated language extension or tools to support it. While this can provide dedicated syntax and operational mechanism but it struggling practical adaptation for the cost of adapting new…

This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…

In many applications, multi-robot systems are required to achieve multiple objectives. For these multi-objective tasks, it is oftentimes hard to design a single control policy that fulfills all the objectives simultaneously. In this paper,…