相关论文: Enhancing a Neurocognitive Shared Visuomotor Model…

Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

The human visual system contains a hierarchical sequence of modules that take part in visual perception at superordinate, basic, and subordinate categorization levels. During the last decades, various computational models have been proposed…

The autonomous learning of new goals in robotics remains a complex issue to address. Here, we propose a model where curiosity influence learning flexibility. To do so, this paper proposes to root curiosity and attention together by taking…

We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

The success of deep reinforcement learning (RL) and imitation learning (IL) in vision-based robotic manipulation typically hinges on the expense of large scale data collection. With simulation, data to train a policy can be collected…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

Vision-and-language (VL) pre-training, which aims to learn a general representation of image-text pairs that can be transferred to various vision-and-language tasks. Compared with modeling uni-modal data, the main challenge of the VL model…

The current study examines how adequate coordination among different cognitive processes including visual recognition, attention switching, action preparation and generation can be developed via learning of robots by introducing a novel…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by…

Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…