相关论文: Reinforcement Learning for Vision-based Object Man…

In this paper, we present a novel method for achieving dexterous manipulation of complex objects, while simultaneously securing the object without the use of passive support surfaces. We posit that a key difficulty for training such…

In this work we augment a Deep Q-Learning agent with a Reward Machine (DQRM) to increase speed of learning vision-based policies for robot tasks, and overcome some of the limitations of DQN that prevent it from converging to good-quality…

This paper presents a novel approach to generalizing robot manipulation skills by combining a sampling-based task-and-motion planner with an offline reinforcement learning algorithm. Starting with a small library of scripted primitive…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapidly solved. These methods face two persistent challenges:…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…

Reinforcement learning is a model-free optimal control method that optimizes a control policy through direct interaction with the environment. For reaching tasks that end in regulation, popular discrete-action methods are not well suited…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

In this work, we introduce PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace.…

Reinforcement learning (RL) for complex tasks remains a challenge, primarily due to the difficulties of engineering scalar reward functions and the inherent inefficiency of training models from scratch. Instead, it would be better to…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing…

Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…

Reinforcement learning (RL) is a promising approach for solving robotic manipulation tasks. However, it is challenging to apply the RL algorithms directly in the real world. For one thing, RL is data-intensive and typically requires…

Reinforcement learning is a popular method of finding optimal solutions to complex problems. Algorithms like Q-learning excel at learning to solve stochastic problems without a model of their environment. However, they take longer to solve…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

Reward shaping in multi-agent reinforcement learning (MARL) for complex tasks remains a significant challenge. Existing approaches often fail to find optimal solutions or cannot efficiently handle such tasks. We propose HYPRL, a…