相关论文: Learning to Play Table Tennis From Scratch using M…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

Aerial robots interacting with objects must perform precise, contact-rich maneuvers under uncertainty. In this paper, we study the problem of aerial ball juggling using a quadrotor equipped with a racket, a task that demands accurate…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

The virtuoso plays the piano with passion, poetry and extraordinary technical ability. As Liszt said (a virtuoso)must call up scent and blossom, and breathe the breath of life. The strongest robots that can play a piano are based on a…

Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic environments through manipulation. Table tennis exemplifies…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…

We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics…

Ballbot (i.e. Ball balancing robot) navigation usually relies on methods rooted in control theory (CT), and works that apply Reinforcement learning (RL) to the problem remain rare while generally being limited to specific subtasks (e.g.…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on this topic. Current solutions mostly build upon…

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

The ball-balancing robot (ballbot) is a good platform to test the effectiveness of a balancing controller. Considering balancing control, conventional model-based feedback control methods have been widely used. However, contacts and…

We present an implementation of an online optimization algorithm for hitting a predefined target when returning ping-pong balls with a table tennis robot. The online algorithm optimizes over so-called interception policies, which define the…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

In previous research, we developed methods to train decision trees (DT) as agents for reinforcement learning tasks, based on deep reinforcement learning (DRL) networks. The samples from which the DTs are built, use the environment's state…