相关论文: Dynamic Cloth Manipulation with Deep Reinforcement…

Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth should be able to reason about the cloth's occluded…

Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

This paper presents a learning-based clothing animation method for highly efficient virtual try-on simulation. Given a garment, we preprocess a rich database of physically-based dressed character simulations, for multiple body shapes and…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

The limited and dynamically varied resources on edge devices motivate us to deploy an optimized deep neural network that can adapt its sub-networks to fit in different resource constraints. However, existing works often build sub-networks…

The use of deep reinforcement learning allows for high-dimensional state descriptors, but little is known about how the choice of action representation impacts the learning difficulty and the resulting performance. We compare the impact of…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

In dynamic environments, learned controllers are supposed to take motion into account when selecting the action to be taken. However, in existing reinforcement learning works motion is rarely treated explicitly; it is rather assumed that…

Connector insertion and many other tasks commonly found in modern manufacturing settings involve complex contact dynamics and friction. Since it is difficult to capture related physical effects with first-order modeling, traditional control…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…