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

Learning state representations enables robotic planning directly from raw observations such as images. Most methods learn state representations by utilizing losses based on the reconstruction of the raw observations from a lower-dimensional…

Although much progress has been made towards robust deep learning, a significant gap in robustness remains between real-world perturbations and more narrowly defined sets typically studied in adversarial defenses. In this paper, we aim to…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

Sequential modelling of high-dimensional data is an important problem that appears in many domains including model-based reinforcement learning and dynamics identification for control. Latent variable models applied to sequential data…

In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model.…

Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a…

Visual reinforcement learning has proven effective in solving control tasks with high-dimensional observations. However, extracting reliable and generalizable representations from vision-based observations remains a central challenge.…

Delays frequently occur in real-world environments, yet standard reinforcement learning (RL) algorithms often assume instantaneous perception of the environment. We study random sensor delays in POMDPs, where observations may arrive…

We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

Recent advances in Behavior Cloning (BC) have led to strong performance in robotic manipulation, driven by expressive models, sequence modeling of actions, and large-scale demonstration data. However, BC faces significant challenges when…

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…

Deploying learned control policies in real-world environments poses a fundamental challenge. When system dynamics change unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…