相关论文: A Learning System for Motion Planning of Free-Floa…

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Active visual tracking of space non-cooperative object is significant for future intelligent spacecraft to realise space debris removal, asteroid exploration, autonomous rendezvous and docking. However, existing works often consider this…

With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…

Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…

This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…

Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…

We present a modular framework designed to enable a robot hand-arm system to learn how to catch flying objects, a task that requires fast, reactive, and accurately-timed robot motions. Our framework consists of five core modules: (i) an…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…

In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedious reward function tuning to achieve the desired motion…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…

In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces, focusing on manipulation of deformable objects. We propose a Latent Space Roadmap (LSR) for task planning which is a…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…