相关论文: Embodied Self-Supervised Learning (EMSSL) with Sam…

In the field of signal processing for robotics, the inverse kinematics of robot arms presents a significant challenge due to multiple solutions caused by redundant degrees of freedom (DOFs). Precision is also a crucial performance indicator…

Self-supervised learning can significantly improve the performance of downstream tasks, however, the dimensions of learned representations normally lack explicit physical meanings. In this work, we propose a novel self-supervised approach…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Cognitive map learners (CML) have been shown to enable hierarchical, compositional machine learning. That is, interpedently trained CML modules can be arbitrarily composed together to solve more complex problems without task-specific…

This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Online Goal Babbling and Direction Sampling are recently proposed methods for direct learning of inverse kinematics mappings from scratch even in high-dimensional sensorimotor spaces following the paradigm of "learning while behaving". To…

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…

In the past few years, deep learning-based methods have demonstrated enormous success for solving inverse problems in medical imaging. In this work, we address the following question:\textit{Given a set of measurements obtained from real…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Apprenticeship learning has recently attracted a wide attention due to its capability of allowing robots to learn physical tasks directly from demonstrations provided by human experts. Most previous techniques assumed that the state space…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with stark differences in their embodiments -- shape, actions,…