相关论文: RMPflow: A Geometric Framework for Generation of M…

We investigate and analyze principles of typical motion planning algorithms. These include traditional planning algorithms, supervised learning, optimal value reinforcement learning, policy gradient reinforcement learning. Traditional…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as interactive planners lack formal safety guarantees, while safe…

Learning algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

This paper is part of a program that aims to understand the connection between the emergence of chaotic behaviour in dynamical systems in relation with the multi-valuedness of the solutions as functions of complex time $\tau$. In this work…

Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although…

Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…

We are interested in the challenging problem of modelling densities on Riemannian manifolds with a known symmetry group using normalising flows. This has many potential applications in physical sciences such as molecular dynamics and…

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…

We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fields (PF) continue to be widely adopted due to their…