相关论文: DIPN: Deep Interaction Prediction Network with App…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

Understanding driver activity is vital for in-vehicle systems that aim to reduce the incidence of car accidents rooted in cognitive distraction. Automating real-time behavior recognition while ensuring actions classification with high…

Discontinuous motion which is a motion composed of multiple continuous motions with sudden change in direction or velocity in between, can be seen in state-aware robotic tasks. Such robotic tasks are often coordinated with sensor…

We develop a probabilistic framework for deep learning based on the Deep Rendering Mixture Model (DRMM), a new generative probabilistic model that explicitly capture variations in data due to latent task nuisance variables. We demonstrate…

Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…

Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…

In recent years, deep neural networks have been applied to obtain high performance of prediction, classification, and pattern recognition. However, the weights in these deep neural networks are difficult to be explained. Although a linear…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

Physics-informed neural networks (PINNs) have been widely applied in different fields due to their effectiveness in solving partial differential equations (PDEs). However, the accuracy and efficiency of PINNs need to be considerably…

We introduce the so called DeepParticle method to learn and generate invariant measures of stochastic dynamical systems with physical parameters based on data computed from an interacting particle method (IPM). We utilize the expressiveness…

We present the application of a class of deep learning, known as Physics Informed Neural Networks (PINN), to learning and discovery in solid mechanics. We explain how to incorporate the momentum balance and constitutive relations into PINN,…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

Learning from interaction is the primary way that biological agents acquire knowledge about their environment and themselves. Modern deep reinforcement learning (DRL) explores a computational approach to learning from interaction and has…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

The current state-of-the-art object recognition algorithms, deep convolutional neural networks (DCNNs), are inspired by the architecture of the mammalian visual system, and are capable of human-level performance on many tasks. However, even…

Interactive object selection is a very important research problem and has many applications. Previous algorithms require substantial user interactions to estimate the foreground and background distributions. In this paper, we present a…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

Informative path planning (IPP) is an important planning paradigm for various real-world robotic applications such as environment monitoring. IPP involves planning a path that can learn an accurate belief of the quantity of interest, while…