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

This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Deep reinforcement learning is poised to revolutionise the field of AI and represents a step towards building autonomous systems with a higher level understanding of the visual world. Currently, deep learning is enabling reinforcement…

This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…

In soccer, scoring goals is a fundamental objective which depends on many conditions and constraints. Considering the RoboCup soccer 2D-simulator, this paper presents a data mining-based decision system to identify the best time and…

In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

The deep reinforcement learning method usually requires a large number of training images and executing actions to obtain sufficient results. When it is extended a real-task in the real environment with an actual robot, the method will be…

In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…

Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing…

Existing action detection algorithms usually generate action proposals through an extensive search over the video at multiple temporal scales, which brings about huge computational overhead and deviates from the human perception procedure.…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Active learning is a promising alternative to alleviate the issue of high annotation cost in the computer vision tasks by consciously selecting more informative samples to label. Active learning for object detection is more challenging and…

Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…

Humanoid robots without internal sensors such as a compass tend to lose their orientation after a fall. Furthermore, re-initialisation is often ambiguous due to symmetric man-made environments. The room-awareness module proposed here is…