相关论文: End-to-End Affordance Learning for Robotic Manipul…

Robotics has been a popular field of research in the past few decades, with much success in industrial applications such as manufacturing and logistics. This success is led by clearly defined use cases and controlled operating environments.…

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

Traditional learning from demonstration (LfD) generally demands a cumbersome collection of physical demonstrations, which can be time-consuming and challenging to scale. Recent advances show that robots can instead learn from human videos…

Intelligent agents accomplish different tasks by utilizing various objects based on their affordance, but how to select appropriate objects according to task context is not well-explored. Current studies treat objects within the affordance…

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…

Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…

Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert…

This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

Reinforcement learning algorithms struggle on tasks with complex hierarchical dependency structures. Humans and other intelligent agents do not waste time assessing the utility of every high-level action in existence, but instead only…

Controlling embodied agents with many actuated degrees of freedom is a challenging task. We propose a method that can discover and interpolate between context dependent high-level actions or body-affordances. These provide an abstract,…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…