相关论文: Goal-Conditioned End-to-End Visuomotor Control for…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

Model Predictive Control (MPC) is a widely adopted control paradigm that leverages predictive models to estimate future system states and optimize control inputs accordingly. However, while MPC excels in planning and control, it lacks the…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…

Understanding and predicting human visuomotor coordination is crucial for applications in robotics, human-computer interaction, and assistive technologies. This work introduces a forecasting-based task for visuomotor modeling, where the…

End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…

Video is a promising source of knowledge for embodied agents to learn models of the world's dynamics. Large deep networks have become increasingly effective at modeling complex video data in a self-supervised manner, as evaluated by metrics…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

In this paper, we propose a new visual navigation method based on a single RGB perspective camera. Using the Visual Teach & Repeat (VT&R) methodology, the robot acquires a visual trajectory consisting of multiple subgoal images in the…

The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…

Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and classical controllers lack the context to…

In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the score function is a distance metric between…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

The current paper presents how a predictive coding type deep recurrent neural networks can generate vision-based goal-directed plans based on prior learning experience by examining experiment results using a real arm robot. The proposed…