相关论文: Robust Robotic Control from Pixels using Contrasti…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose…

World models learned from high-dimensional visual observations allow agents to make decisions and plan directly in latent space, avoiding pixel-level reconstruction. However, recent latent predictive architectures (JEPAs), including the…

Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

The goal of this paper is to make a strong point for the usage of dynamical models when using reinforcement learning (RL) for feedback control of dynamical systems governed by partial differential equations (PDEs). To breach the gap between…

Developing agents that can perform complex control tasks from high dimensional observations such as pixels is challenging due to difficulties in learning dynamics efficiently. In this work, we propose to learn forward and inverse dynamics…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

Control of nonlinear uncertain systems is a common challenge in the robotics field. Nonlinear latent force models, which incorporate latent uncertainty characterized as Gaussian processes, carry the promise of representing such systems…

We address the problem of safe reinforcement learning from pixel observations. Inherent challenges in such settings are (1) a trade-off between reward optimization and adhering to safety constraints, (2) partial observability, and (3)…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

We present an approach to learn the dynamics of multiple objects from image sequences in an unsupervised way. We introduce a probabilistic model that first generate noisy positions for each object through a separate linear state-space…

Change detection plays an important role in most video-based applications. The first stage is to build appropriate background model, which is now becoming increasingly complex as more sophisticated statistical approaches are introduced to…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…

We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…

Model-based reinforcement learning has attracted much attention due to its high sample efficiency and is expected to be applied to real-world robotic applications. In the real world, as unobservable disturbances can lead to unexpected…