相关论文: DeepClaw: A Robotic Hardware Benchmarking Platform…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Untangling ropes, wires, and cables is a challenging task for robots due to the high-dimensional configuration space, visual homogeneity, self-occlusions, and complex dynamics. We consider dense (tight) knots that lack space between…

Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation…

We present a benchmark to facilitate simulated manipulation; an attempt to overcome the obstacles of physical benchmarks through the distribution of a real world, ground truth dataset. Users are given various simulated manipulation tasks…

Hyperparameters and learning algorithms for neuromorphic hardware are usually chosen by hand. In contrast, the hyperparameters and learning algorithms of networks of neurons in the brain, which they aim to emulate, have been optimized…

We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…

Detection, tracking, and pose estimation of surgical instruments are crucial tasks for computer assistance during minimally invasive robotic surgery. In the majority of cases, the first step is the automatic segmentation of surgical tools.…

Continual learning (CL) -- the ability to continuously learn, building on previously acquired knowledge -- is a natural requirement for long-lived autonomous reinforcement learning (RL) agents. While building such agents, one needs to…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…

As reinforcement learning (RL) achieves more success in solving complex tasks, more care is needed to ensure that RL research is reproducible and that algorithms herein can be compared easily and fairly with minimal bias. RL results are,…

Comparative evaluation of several systems is a recurrent task in researching. It is a key step before deciding which system to use for our work, or, once our research has been conducted, to demonstrate the potential of the resulting model.…

Manipulating articulated tools, such as tweezers or scissors, has rarely been explored in previous research. Unlike rigid tools, articulated tools change their shape dynamically, creating unique challenges for dexterous robotic hands. In…

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud Robotics model in terms of privacy, security, latency, bandwidth, and reliability. In this paper, we present a `Fog Robotics'…

We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…

Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

With an ever-growing number of parameters defining increasingly complex networks, Deep Learning has led to several breakthroughs surpassing human performance. As a result, data movement for these millions of model parameters causes a…