相关论文: Robust Unsupervised Learning of Temporal Dynamic I…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

While there are convergence guarantees for temporal difference (TD) learning when using linear function approximators, the situation for nonlinear models is far less understood, and divergent examples are known. Here we take a first step…

The development of autonomous robotic systems that can learn from human demonstrations to imitate a desired behavior - rather than being manually programmed - has huge technological potential. One major challenge in imitation learning is…

Learning representations that capture both intrinsic data geometry and target-relevant structure remains a fundamental challenge, particularly in settings where data reduction must balance compression with predictive fidelity. While…

Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

Robust Unsupervised Domain Adaptation (RoUDA) aims to achieve not only clean but also robust cross-domain knowledge transfer from a labeled source domain to an unlabeled target domain. A number of works have been conducted by directly…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

We introduce a notion of distance between supervised learning problems, which we call the Risk distance. This distance, inspired by optimal transport, facilitates stability results; one can quantify how seriously issues like sampling bias,…

Effective traffic control methods have great potential in alleviating network congestion. Existing literature generally focuses on a single control approach, while few studies have explored the effectiveness of integrated and coordinated…

Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mitigate uncertainty through large-scale training and…

Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven…

Learning time-evolving objects such as multivariate time series and dynamic networks requires the development of novel knowledge representation mechanisms and neural network architectures, which allow for capturing implicit time-dependent…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…