相关论文: Learning Predictive Representations for Deformable…

Robotic manipulation of deformable linear objects (DLOs) has broad application prospects in many fields. However, a key issue is to obtain the exact deformation models (i.e., how robot motion affects DLO deformation), which are hard to…

The accuracy and fidelity of deformation simulations are highly dependent upon the underlying constitutive material model. Commonly used linear or nonlinear constitutive material models only cover a tiny part of possible material behavior.…

Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation…

Although an object may appear in numerous contexts, we often describe it in a limited number of ways. Language allows us to abstract away visual variation to represent and communicate concepts. Building on this intuition, we propose an…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

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.…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

In neutrino physics, analyses often depend on large simulated datasets, making it essential for models to generalise effectively to real-world detector data. Contrastive learning, a well-established technique in deep learning, offers a…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

We consider the setting of an agent with a fixed body interacting with an unknown and uncertain external world. We show that models trained to predict proprioceptive information about the agent's body come to represent objects in the…

Robotic manipulation tasks, such as wiping with a soft sponge, require control from multiple rich sensory modalities. Human-robot interaction, aimed at teaching robots, is difficult in this setting as there is potential for mismatch between…

Contrastive approaches to representation learning have recently shown great promise. In contrast to generative approaches, these contrastive models learn a deterministic encoder with no notion of uncertainty or confidence. In this paper, we…