相关论文: Contextual Reinforcement Learning of Visuo-tactile…

Recent advances in on-policy reinforcement learning (RL) methods enabled learning agents in virtual environments to master complex tasks with high-dimensional and continuous observation and action spaces. However, leveraging this family of…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing grasping tasks into manageable sub-tasks.…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

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…

Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…

Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, and integration complexity. This work demonstrates that…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Vision-based grasping systems typically adopt an open-loop execution of a planned grasp. This policy can fail due to many reasons, including ubiquitous calibration error. Recovery from a failed grasp is further complicated by visual…