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

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Prompt tuning, which involves training a small set of parameters, effectively enhances the pre-trained Vision-Language Models (VLMs) to downstream tasks. However, they often come at the cost of flexibility and adaptability when the tuned…

In large language models (LLM), in-context learning (ICL) refers to performing new tasks by conditioning on small demonstrations provided in the input context. Recent advances in visual in-context learning (VICL) demonstrate promising…

The dynamic motion primitive-based (DMP) method is an effective method of learning from demonstrations. However, most of the current DMP-based methods focus on learning one task with one module. Although, some deep learning-based frameworks…

Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…

We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

State-of-the-art Vision-Language Models (VLMs) ground the vision and the language modality primarily via projecting the vision tokens from the encoder to language-like tokens, which are directly fed to the Large Language Model (LLM)…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with…

In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…

Humans can routinely follow a trajectory defined by a list of images/landmarks. However, traditional robot navigation methods require accurate mapping of the environment, localization, and planning. Moreover, these methods are sensitive to…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…