相关论文: Bayesian Multi-Task Learning MPC for Robotic Mobil…

Bayesian optimization is proposed for automatic learning of optimal controller parameters from experimental data. A probabilistic description (a Gaussian process) is used to model the unknown function from controller parameters to a…

Parameter tuning for vehicle controllers remains a costly and time-intensive challenge in automotive development. Traditional approaches rely on extensive real-world testing, making the process inefficient. We propose a multi-fidelity…

We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…

In the realm of supervised learning, Bayesian learning has shown robust predictive capabilities under input and parameter perturbations. Inspired by these findings, we demonstrate the robustness properties of Bayesian learning in the…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Multi-task problem solving has been shown to improve the accuracy of the individual tasks, which is an important feature for robots, as they have a limited resource. However, when the number of labels for each task is not equal, namely…

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

Many works in robot teaching either focus only on teaching task knowledge, such as geometric constraints, or motion knowledge, such as the motion for accomplishing a task. However, to effectively teach a complex task sequence to a robot, it…

Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…

Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

We present a two-stage framework that integrates a learning-based estimator and a controller, designed to address contact-intensive tasks. The estimator leverages a Bayesian particle filter with a mixture density network (MDN) structure,…

Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems,…

Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are formulated in the context of model-based reinforcement…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…