相关论文: Benchmarking Robot Manipulation with the Rubik's C…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…

We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…

Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective, such robots must follow the target…

Dynamic circuit operations -- measurements with feedforward -- are important components for future quantum computing efforts, but lag behind gates in the availability of characterization methods. Here we introduce a series of dynamic…

This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…

Mastering psychomotor skills, such as those essential in sports, rehabilitation, and professional training, often requires a precise understanding of motion patterns and performance metrics. This study proposes a versatile framework for…

Benchmarking has driven scientific progress in Evolutionary Computation, yet current practices fall short of real-world needs. Widely used synthetic suites such as BBOB and CEC isolate algorithmic phenomena but poorly reflect the structure,…

Recently, researchers have made significant progress combining the advances in deep learning for learning feature representations with reinforcement learning. Some notable examples include training agents to play Atari games based on raw…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

Considering how to make the model accurately understand and follow natural language instructions and perform actions consistent with world knowledge is a key challenge in robot manipulation. This mainly includes human fuzzy instruction…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…

Quantum simulators have made a remarkable progress towards exploring the dynamics of many-body systems, many of which offer a formidable challenge to both theoretical and numerical methods. While state-of-the-art quantum simulators are in…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

Empirical, benchmark-driven testing is a fundamental paradigm in the current RL community. While using off-the-shelf benchmarks in reinforcement learning (RL) research is a common practice, this choice is rarely discussed. Benchmark choices…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Mid-circuit measurements are a key component in many quantum information computing protocols, including quantum error correction, fault-tolerant logical operations, and measurement based quantum computing. As such, techniques to quickly and…

Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks, mostly composed of a suite of simulatable environments, are…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling diverse end-users to teach robots to perform a task by providing demonstrations. However, most LfD techniques assume users provide optimal demonstrations. This is…