相关论文: DiffSkill: Skill Abstraction from Differentiable P…

Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivated by examples of improved transfer from…

Integrating robots in complex everyday environments requires a multitude of problems to be solved. One crucial feature among those is to equip robots with a mechanism for teaching them a new task in an easy and natural way. When teaching…

The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be complex and non-homogeneous, a robot needs to be able to…

Skills are temporal abstractions that are intended to improve reinforcement learning (RL) performance through hierarchical RL. Despite our intuition about the properties of an environment that make skills useful, a precise characterization…

Materials science inherently spans disciplines: experimentalists use advanced microscopy to uncover micro- and nanoscale structure, while theorists and computational scientists develop models that link processing, structure, and properties.…

Video object segmentation is a fundamental research problem in computer vision. Recent techniques have often applied attention mechanism to object representation learning from video sequences. However, due to temporal changes in the video…

We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon control framework in which a model predictive control (MPC)…

Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…

In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools compared to more commonly used objects like cubes or…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Human motion is highly diverse and dynamic, posing challenges for imitation learning algorithms that aim to generalize motor skills for controlling simulated characters. Previous methods typically rely on a universal full-body controller…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…

Accurate physics simulation is essential for robotic learning and control, yet analytical simulators often fail to capture complex contact dynamics, while learning-based simulators typically require large amounts of costly real-world data.…

Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility,…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without…

Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…

This paper introduces DiffTORI, which utilizes Differentiable Trajectory Optimization as the policy representation to generate actions for deep Reinforcement and Imitation learning. Trajectory optimization is a powerful and widely used…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…