相关论文: InsertionNet 2.0: Minimal Contact Multi-Step Inser…

In the context of few-shot classification, the goal is to train a classifier using a limited number of samples while maintaining satisfactory performance. However, traditional metric-based methods exhibit certain limitations in achieving…

Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments,…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical…

Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…

The mechanism of connecting multimodal signals through self-attention operation is a key factor in the success of multimodal Transformer networks in remote sensing data fusion tasks. However, traditional approaches assume access to all…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

Multimodal few-shot learning is challenging due to the large domain gap between vision and language modalities. Existing methods are trying to communicate visual concepts as prompts to frozen language models, but rely on hand-engineered…

Autonomous agents interacting with the real world need to learn new concepts efficiently and reliably. This requires learning in a low-data regime, which is a highly challenging problem. We address this task by introducing a fast…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…

Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…

Purpose: A profound education of novice surgeons is crucial to ensure that surgical interventions are effective and safe. One important aspect is the teaching of technical skills for minimally invasive or robot-assisted procedures. This…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

Indoor scene recognition is a growing field with great potential for behaviour understanding, robot localization, and elderly monitoring, among others. In this study, we approach the task of scene recognition from a novel standpoint, using…