相关论文: Robotic Table Wiping via Reinforcement Learning an…

Autonomous robotic wiping is an important task in various industries, ranging from industrial manufacturing to sanitization in healthcare. Deep reinforcement learning (Deep RL) has emerged as a promising algorithm, however, it often suffers…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…

In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…

Dynamic tasks like table tennis are relatively easy to learn for humans but pose significant challenges to robots. Such tasks require accurate control of fast movements and precise timing in the presence of imprecise state estimation of the…

The game of table tennis is renowned for its extremely high spin rate, but most table tennis robots today struggle to handle balls with such rapid spin. To address this issue, we have contributed a series of methods, including: 1.…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…

Modern robotic manufacturing requires collision-free coordination of multiple robots to complete numerous tasks in shared, obstacle-rich workspaces. Although individual tasks may be simple in isolation, automated joint task allocation,…

In recent years, reinforcement learning (RL) has shown great potential for solving tasks in well-defined environments like games or robotics. This paper aims to solve the robotic reaching task in a simulation run on the Neurorobotics…

Reinforcement learning (RL) has achieved some impressive recent successes in various computer games and simulations. Most of these successes are based on having large numbers of episodes from which the agent can learn. In typical robotic…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…