相关论文: Learning to Collaborate from Simulation for Robot-…
In scheduling problems common in the industry and various real-world scenarios, responding in real-time to disruptive events is essential. Recent methods propose the use of deep reinforcement learning (DRL) to learn policies capable of…
Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep…
Care-giving and assistive robotics, driven by advancements in AI, offer promising solutions to meet the growing demand for care, particularly in the context of increasing numbers of individuals requiring assistance. This creates a pressing…
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 this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…
Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…
When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
Deep reinforcement learning (RL) has proven a powerful technique in many sequential decision making domains. However, Robotics poses many challenges for RL, most notably training on a physical system can be expensive and dangerous, which…
Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…
Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…
In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an…
The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…
Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
This paper proposes an adaptive energy management strategy for hybrid electric vehicles by combining deep reinforcement learning (DRL) and transfer learning (TL). This work aims to address the defect of DRL in tedious training time. First,…
Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…