相关论文: Modelling and Learning Dynamics for Robotic Food-C…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

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…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

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…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

We propose a multiscale approach for predicting quantities in dynamical systems which is explicitly structured to extract information in both fine-to-coarse and coarse-to-fine directions. We envision this method being generally applicable…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Accurate models of mechanical system dynamics are often critical for model-based control and reinforcement learning. Fully data-driven dynamics models promise to ease the process of modeling and analysis, but require considerable amounts of…

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…

Mobile manipulation in robotics is challenging due to the need of solving many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available, thus…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…

One of the key challenges in applying reinforcement learning to complex robotic control tasks is the need to gather large amounts of experience in order to find an effective policy for the task at hand. Model-based reinforcement learning…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well as trial-and-error. Here, we aim to minimize the effort…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

Diagrammatic models of feeding choices reveal fundamental robotic behaviors. Successful choices are reinforced by positive feedback, while unsuccessful ones by negative feedback. This paper will address robotic feeding by casually relating…

This paper presents a data-efficient approach to learning transferable forward models for robotic push manipulation. Our approach extends our previous work on contact-based predictors by leveraging information on the pushed object's local…