相关论文: Focused Adaptation of Dynamics Models for Deformab…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…

For robots to be effectively deployed in novel environments and tasks, they must be able to understand the feedback expressed by humans during intervention. This can either correct undesirable behavior or indicate additional preferences.…

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…

Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…

Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…

In multivariable time series (MTS) forecasting, existing state-of-the-art deep learning approaches tend to focus on autoregressive formulations and often overlook the potential of using exogenous variables in enhancing the prediction of the…

Model-free policy learning has enabled robust performance of complex tasks with relatively simple algorithms. However, this simplicity comes at the cost of requiring an Oracle and arguably very poor sample complexity. This renders such…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

Domain adaptation, a pivotal branch of transfer learning, aims to enhance the performance of machine learning models when deployed in target domains with distinct data distributions. This is particularly critical for object detection tasks,…

This article addresses the challenge of adapting data-based models over time. We propose a novel two-fold modelling architecture designed to correct plant-model mismatch caused by two types of uncertainty. Out-of-domain uncertainty arises…

Being able to quickly adapt to changes in dynamics is paramount in model-based control for object manipulation tasks. In order to influence fast adaptation of the inverse dynamics model's parameters, data efficiency is crucial. Given…

In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…

Domain adaptation seeks to mitigate the shift between training on the \emph{source} domain and testing on the \emph{target} domain. Most adaptation methods rely on the source data by joint optimization over source data and target data.…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

Domain Adaptation (DA) has recently received significant attention due to its potential to adapt a learning model across source and target domains with mismatched distributions. Since DA methods rely exclusively on the given source and…

Modeling complex dynamical systems under varying conditions is computationally intensive, often rendering high-fidelity simulations intractable. Although reduced-order models (ROMs) offer a promising solution, current methods often struggle…

Effective object detection in autonomous vehicles is challenged by deployment in diverse and unfamiliar environments. Online Source-Free Domain Adaptation (O-SFDA) offers model adaptation using a stream of unlabeled data from a target…

Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even…