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

Unsupervised multi-domain adaptation plays a key role in transfer learning by leveraging acquired rich source information from multiple source domains to solve target task from an unlabeled target domain. However, multiple source domains…

Most unsupervised domain adaptation (UDA) methods assume that labeled source images are available during model adaptation. However, this assumption is often infeasible owing to confidentiality issues or memory constraints on mobile devices.…

Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…

We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost…

Machine learning models deployed in real-world settings must operate under evolving data distributions and constrained computational resources. This challenge is particularly acute in non-stationary domains such as energy time series,…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

In this paper, we leverage ideas from model-based control to address the sample efficiency problem of reinforcement learning (RL) algorithms. Accelerating learning is an active field of RL highly relevant in the context of time-varying…

Adapting to dynamic data distributions is a practical yet challenging task. One effective strategy is to use a model ensemble, which leverages the diverse expertise of different models to transfer knowledge to evolving data distributions.…

Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Generalization has been one of the major challenges for learning dynamics models in model-based reinforcement learning. However, previous work on action-conditioned dynamics prediction focuses on learning the pixel-level motion and thus…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such as what the model could learn online and how quickly could…

This work focuses on the setting of dynamic regret in the context of online learning with full information. In particular, we analyze regret bounds with respect to the temporal variability of the loss functions. By assuming that the…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…