相关论文: Reactive Anticipatory Robot Skills with Memory

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Associative memory has long underpinned the design of sequential models. Beyond recall, humans reason by projecting future states and selecting goal-directed actions, a capability that modern language models increasingly require but do not…

Everyday robotics are challenged to deal with autonomous product handling in applications like logistics or retail, possibly causing damage on the items during manipulation. Traditionally, most approaches try to minimize physical…

Continual fine-tuning of large language models (LLMs) is becoming increasingly crucial as these models are deployed in dynamic environments where tasks and data distributions evolve over time. While strong adaptability enables rapid…

One of the challenges in robotics is to enable robotic units with the reasoning capability that would be robust enough to execute complex tasks in dynamic environments. Recent advances in LLMs have positioned them as go-to tools for simple…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learning (RL). However, these methods often have high…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

Long-term non-prehensile planar manipulation is a challenging task for planning and control, requiring determination of both continuous and discrete contact configurations, such as contact points and modes. This leads to the non-convexity…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…

This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

Sample-based learning model predictive control (LMPC) strategies have recently attracted attention due to their desirable theoretical properties and their good empirical performance on robotic tasks. However, prior analysis of LMPC…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…