相关论文: PyRep: Bringing V-REP to Deep Robot Learning

Unmanned aerial vehicles (UAVs) have numerous applications, but their efficient and optimal flight can be a challenge. Reinforcement Learning (RL) has emerged as a promising approach to address this challenge, yet there is no standardized…

Realistic Hand manipulation is a key component of immersive virtual reality (VR), yet existing methods often rely on kinematic approach or motion-capture datasets that omit crucial physical attributes such as contact forces and finger…

Assisted by neural networks, reinforcement learning agents have been able to solve increasingly complex tasks over the last years. The simulation environment in which the agents interact is an essential component in any reinforcement…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

We present V-JEPA 2.1, a family of self-supervised models that learn dense, high-quality visual representations for both images and videos while retaining strong global scene understanding. The approach combines four key components. First,…

The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, we present FingerViP, a learning system…

Deep reinforcement learning (RL) is a powerful framework to train decision-making models in complex environments. However, RL can be slow as it requires repeated interaction with a simulation of the environment. In particular, there are key…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images…

Despite significant progress of applying deep learning methods to the field of content-based image retrieval, there has not been a software library that covers these methods in a unified manner. In order to fill this gap, we introduce…

Vision-language Models (VLMs) have shown remarkable capabilities in advancing general artificial intelligence, yet the irrational encoding of visual positions persists in inhibiting the models' comprehensive perception performance across…

Autonomous robotic wiping is an important task in various industries, ranging from industrial manufacturing to sanitization in healthcare. Deep reinforcement learning (Deep RL) has emerged as a promising algorithm, however, it often suffers…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specific, relying on extensive per-task engineering to design…

Visual reasoning, a cornerstone of human intelligence, encompasses complex perceptual and logical processes essential for solving diverse visual problems. While advances in computer vision have produced powerful models for various…

Informative path planning (IPP) is a crucial task in robotics, where agents must design paths to gather valuable information about a target environment while adhering to resource constraints. Reinforcement learning (RL) has been shown to be…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Virtual Reality (VR) is rapidly increasing in popularity as a teaching tool. It allows for the creation of a highly immersive, three-dimensional virtual environment intended to simulate real-life environments. With more robots saturating…