相关论文: PlasticineLab: A Soft-Body Manipulation Benchmark …

We propose a new technique for pushing an unknown object from an initial configuration to a goal configuration with stability constraints. The proposed method leverages recent progress in differentiable physics models to learn unknown…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

We present RoboManipBaselines, an open-source software framework for imitation learning research in robotic manipulation. The framework supports the entire imitation learning pipeline, including data collection, policy training, and…

Reinforcement learning (RL) in discrete action space is ubiquitous in real-world applications, but its complexity grows exponentially with the action-space dimension, making it challenging to apply existing on-policy gradient based deep RL…

Ensuring the safety of Reinforcement Learning (RL) is crucial for its deployment in real-world applications. Nevertheless, managing the trade-off between reward and safety during exploration presents a significant challenge. Improving…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…

Plastic deformation of most crystalline materials is due to the motion of lattice dislocations. Therefore, the simulation of the interaction and dynamics of these defects has become state-of-the-art method to study work hardening, size…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

The use of machine learning (ML) techniques to solve complex physical problems has been considered recently as a promising approach. However, the evaluation of such learned physical models remains an important issue for industrial use. The…

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…

Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…