相关论文: Robots of the Lost Arc: Self-Supervised Learning t…

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…

We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…

In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

We treat the problem of autonomous acquisition of manipulation skills where problem-solving strategies are initially available only for a narrow range of situations. We propose to extend the range of solvable situations by autonomous…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking,…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

As technology progresses, industrial and scientific robots are increasingly being used in diverse settings. In many cases, however, programming the robot to perform such tasks is technically complex and costly. To maximize the utility of…

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…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…

Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy, and to survive in dynamic, uncertain environments. In this work, a scenario is presented where a robot has limited…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…