相关论文: Train What You Know -- Precise Pick-and-Place with…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…

In the era of large-scale model training, the extensive use of available datasets has resulted in significant computational inefficiencies. To tackle this issue, we explore methods for identifying informative subsets of training data that…

In the robotics literature, different knowledge transfer approaches have been proposed to leverage the experience from a source task or robot -- real or virtual -- to accelerate the learning process on a new task or robot. A commonly made…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

The state of the art in machine translation (MT) is governed by neural approaches, which typically provide superior translation accuracy over statistical approaches. However, on the closely related task of word alignment, traditional…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…

Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…

In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…

Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on…

Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve…

Robot navigation systems are critical for various real-world applications such as delivery services, hospital logistics, and warehouse management. Although classical navigation methods provide interpretability, they rely heavily on expert…