相关论文: Combining Planning, Reasoning and Reinforcement Le…

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…

This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…

Trajectory planning under kinodynamic constraints is fundamental for advanced robotics applications that require dexterous, reactive, and rapid skills in complex environments. These constraints, which may represent task, safety, or actuator…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand,…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…

Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Temporal Logic (MITL) offers a formal and…

In agent control issues, the idea of combining reinforcement learning and planning has attracted much attention. Two methods focus on micro and macro action respectively. Their advantages would show together if there is a good cooperation…

To enable robots to achieve high level objectives, engineers typically write scripts that apply existing specialized skills, such as navigation, object detection and manipulation to achieve these goals. Writing good scripts is challenging…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Reasoning and planning for mobile robots is a challenging problem, as the world evolves over time and thus the robot's goals may change. One technique to tackle this problem is goal reasoning, where the agent not only reasons about its…

In many dynamic robotic tasks, such as striking pucks into a goal outside the reachable workspace, the robot must first identify the relevant physical properties of the object for successful task execution, as it is unable to recover from…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Research on reinforcement learning has demonstrated promising results in manifold applications and domains. Still, efficiently learning effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and…

In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…

A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…