相关论文: Augmenting Reinforcement Learning with Behavior Pr…

Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…

Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications.…

Active matter refers to systems composed of self-propelled entities that consume energy to produce motion, exhibiting complex non-equilibrium dynamics that challenge traditional models. With the rapid advancements in machine learning,…

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning…

The advent of deep reinforcement learning (DRL) has significantly advanced the field of robotics, particularly in the control and coordination of quadruped robots. However, the complexity of real-world tasks often necessitates the…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

Embodied robots nowadays can already handle many real-world manipulation tasks. However, certain other real-world tasks involving dynamic processes (e.g., shooting a basketball into a hoop) are highly agile and impose high precision…

Movement Primitives (MPs) are a well-established method for representing and generating modular robot trajectories. This work presents FA-ProDMP, a new approach which introduces force awareness to Probabilistic Dynamic Movement Primitives…

Mobile Manipulation (MM) systems are ideal candidates for taking up the role of a personal assistant in unstructured real-world environments. Among other challenges, MM requires effective coordination of the robot's embodiments for…

The object manipulation is a crucial ability for a service robot, but it is hard to solve with reinforcement learning due to some reasons such as sample efficiency. In this paper, to tackle this object manipulation, we propose a novel…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Classical navigation systems typically operate using a fixed set of hand-picked parameters (e.g. maximum speed, sampling rate, inflation radius, etc.) and require heavy expert re-tuning in order to work in new environments. To mitigate this…

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…

Developing versatile quadruped robots that can smoothly perform various actions and tasks in real-world environments remains a significant challenge. This paper introduces a novel vision-language-action (VLA) model, mixture of robotic…

In emergency scenarios, mobile robots must navigate like humans, interpreting stimuli to locate potential victims rapidly without interfering with first responders. Existing socially-aware navigation algorithms face computational and…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…