相关论文: Data-Efficient Learning for Sim-to-Real Robotic Gr…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

In imitation learning, behavior learning is generally done using the features extracted from the demonstration data. Recent deep learning algorithms enable the development of machine learning methods that can get high dimensional data as an…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a…

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…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…

Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…

Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…