相关论文: Teaching contact-rich tasks from visual demonstrat…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Combined visual and force feedback play an essential role in contact-rich robotic manipulation tasks. Current methods focus on developing the feedback control around a single modality while underrating the synergy of the sensors. Fusing…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where success requires precise alignment, stable contact…

Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for…

Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well as trial-and-error. Here, we aim to minimize the effort…

Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile…

This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…

Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…