相关论文: Complex Locomotion Skill Learning via Differentiab…

We propose a new technique for pushing an unknown object from an initial configuration to a goal configuration with stability constraints. The proposed method leverages recent progress in differentiable physics models to learn unknown…

The expanding applications of legged robots require their mastery of versatile motion skills. Correspondingly, researchers must address the challenge of integrating multiple diverse motion skills into controllers. While existing…

While natural systems often present collective intelligence that allows them to self-organize and adapt to changes, the equivalent is missing in most artificial systems. We explore the possibility of such a system in the context of…

Neural networks have emerged as a powerful way to approach many practical problems in quantum physics. In this work, we illustrate the power of deep learning to predict the dynamics of a quantum many-body system, where the training is…

Neural Memory Networks (NMNs) have received increased attention in recent years compared to deep architectures that use a constrained memory. Despite their new appeal, the success of NMNs hinges on the ability of the gradient-based…

Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep…

Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

The physics solvers employed for neural network training are primarily iterative, and hence, differentiating through them introduces a severe computational burden as iterations grow large. Inspired by works in bilevel optimization, we show…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

Learning with physical systems is an emerging paradigm that seeks to harness the intrinsic nonlinear dynamics of physical substrates for learning. The impetus for a paradigm shift in how hardware is used for computational intelligence stems…

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…

Many machine learning frameworks have been proposed and used in wireless communications for realizing diverse goals. However, their incapability of adapting to the dynamic wireless environment and tasks and of self-learning limit their…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

Neurodiversity, the paradigm shift away from a pathologization of cognitive difference and towards a celebration of cognitive diversity, in an educational context has important implications on how educators structure their classes and on…

Neural network (NN) interatomic potentials provide fast prediction of potential energy surfaces, closely matching the accuracy of the electronic structure methods used to produce the training data. However, NN predictions are only reliable…

This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…