相关论文: A Composable Framework for Policy Design, Learning…

Reliability and availability analysis are essential in dependable critical embedded systems. The classical implementation of dependability for an embedded system relies on merging both fundamental structures with the required dependability…

In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

The design and development of robots involve the essential step of selecting and testing robotic interfaces. This interface selection requires careful consideration as the robot's physical embodiment influences and adds to the traditional…

Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…

Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…

This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

Automatic assembly has broad applications in industries. Traditional assembly tasks utilize predefined trajectories or tuned force control parameters, which make the automatic assembly time-consuming, difficult to generalize, and not robust…

Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

Learned robot policies have consistently been shown to be versatile, but they typically have no built-in mechanism for handling the complexity of open environments, making them prone to execution failures; this implies that deploying…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

This paper proposes a paradigm of uncertainty injection for training deep learning model to solve robust optimization problems. The majority of existing studies on deep learning focus on the model learning capability, while assuming the…

Modern manufacturing systems typically require high degrees of flexibility, in terms of ability to customize the production lines to the constantly changing market requests. For this purpose, manufacturing systems are required to be able to…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…