相关论文: Real-time Active Vision for a Humanoid Soccer Robo…

Controlling a high degrees of freedom humanoid robot is acknowledged as one of the hardest problems in Robotics. Due to the lack of mathematical models, an approach frequently employed is to rely on human intuition to design keyframe…

Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body balance control. Existing approaches suffer from inter-module…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When…

Deep Learning has become exceptionally popular in the last few years due to its success in computer vision and other fields of AI. However, deep neural networks are computationally expensive, which limits their application in low power…

Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end reinforcement learning (RL) methods face challenges in complex…

This paper presents the concepts of Artificial Intelligence, Multi-Agent-Systems, Coordination, Intelligent Robotics and Deep Reinforcement Learning. Emphasis is given on and how AI and DRL, may be efficiently used to create efficient robot…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach…

We pose an active perception problem where an autonomous agent actively interacts with a second agent with potentially adversarial behaviors. Given the uncertainty in the intent of the other agent, the objective is to collect further…

Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning…

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…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Deep learning provides a powerful framework for automated acquisition of complex robotic motions. However, despite a certain degree of generalization, the need for vast amounts of training data depending on the work-object position is an…

Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…