相关论文: "What, not how": Solving an under-actuated inserti…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…

In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

A reinforcement learning (RL) based method that enables the robot to accomplish the assembly-type task with safety regulations is proposed. The overall strategy consists of grasping and assembly, and this paper mainly considers the assembly…

Dealing with sparse rewards is one of the biggest challenges in Reinforcement Learning (RL). We present a novel technique called Hindsight Experience Replay which allows sample-efficient learning from rewards which are sparse and binary and…

Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…

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…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…

The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…

In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the hole in a pre-insertion configuration. Random actuation…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…