相关论文: Learning Hybrid Object Kinematics for Efficient Hi…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Musculoskeletal robots provide superior advantages in flexibility and dexterity, positioning them as a promising frontier towards embodied intelligence. However, current research is largely confined to relative simple tasks, restricting the…

Deciding which sensing capabilities to deploy on an agent in uncertain domains is a fundamental engineering challenge, in which one balances task achievability against the high costs of hardware and processing. This problem has previously…

Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…

To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve temporal reasoning and bilateral imitation…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Mixup linearly interpolates pairs of examples to form new samples, which is easy to implement and has been shown to be effective in image classification tasks. However, there are two drawbacks in mixup: one is that more training epochs are…

Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…

Modeling complex spatiotemporal dynamics, particularly in far-from-equilibrium systems, remains a grand challenge in science. The governing partial differential equations (PDEs) for these systems are often intractable to derive from first…

Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically feasible continuous trajectory. The…

We propose an approach based on probabilistic models, in particular POMDPs, to plan optimized search processes of known objects by intelligent eye in hand robotic arms. Searching and reaching for a known object (a pen, a book, or a hammer)…

Offline reinforcement learning enables agents to leverage large pre-collected datasets of environment transitions to learn control policies, circumventing the need for potentially expensive or unsafe online data collection. Significant…

Continual reinforcement learning poses a major challenge due to the tendency of agents to experience catastrophic forgetting when learning sequential tasks. In this paper, we introduce a modularity-based approach, called Hierarchical…

We propose a new approach for solving planning problems with a hierarchical structure, fusing reinforcement learning and MPC planning. Our formulation tightly and elegantly couples the two planning paradigms. It leverages reinforcement…