相关论文: Follow the Object: Curriculum Learning for Manipul…

Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. However, learning robust loco-manipulation skills remains…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Reaching tasks with random targets and obstacles is a challenging task for robotic manipulators. In this study, we propose a novel model-free reinforcement learning approach based on proximal policy optimization (PPO) for training a deep…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

Can we learn policies in reinforcement learning without rewards? Can we learn a policy just by trying to reach a goal state? We answer these questions positively by proposing a multi-step procedure that first learns a world model that goes…

Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. In this paper, we show that it is possible to learn fabric…

The capabilities of a robot will be increased significantly by exploiting throwing behavior. In particular, throwing will enable robots to rapidly place the object into the target basket, located outside its feasible kinematic space,…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

Deep learning often requires the manual collection and annotation of a training set. On robotic platforms, can we partially automate this task by training the robot to be curious, i.e., to seek out beneficial training information in the…

Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…