相关论文: Efficient Skill Acquisition for Complex Manipulati…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

When facing the problem of autonomously learning multiple tasks with reinforcement learning systems, researchers typically focus on solutions where just one parametrised policy per task is sufficient to solve them. However, in complex…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

Vision-based grasping systems typically adopt an open-loop execution of a planned grasp. This policy can fail due to many reasons, including ubiquitous calibration error. Recovery from a failed grasp is further complicated by visual…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low…

We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation,…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…