相关论文: Learning to Brachiate via Simplified Model Imitati…

In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must plan the sequence of base poses for grasping all objects,…

Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…

Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for picking up small objects, making them a suitably complex test…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

Imitation from observation is the framework of learning tasks by observing demonstrated state-only trajectories. Recently, adversarial approaches have achieved significant performance improvements over other methods for imitating complex…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address…

Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the difficulty of optimizing over discrete contacts and the…

Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. However, learning robust loco-manipulation skills remains…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…