相关论文: General Robot Dynamics Learning and Gen2Real

Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlinearities, friction, and hysteresis,…

Domain generalization (DG) is a fundamental yet very challenging research topic in machine learning. The existing arts mainly focus on learning domain-invariant features with limited source domains in a static model. Unfortunately, there is…

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

How can robot manipulation policies generalize to novel tasks involving unseen object types and new motions? In this paper, we provide a solution in terms of predicting motion information from web data through human video generation and…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Given a segment of time series of a system at a particular set of parameter values, can one infers the global behavior of the system in its parameter space? Here we show that by using a learning machine we can achieve such a goal to a…

Learning-based and data-driven techniques have recently become a subject of primary interest in the field of reconstruction and regularization of inverse problems. Besides the development of novel methods, yielding excellent results in…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…