相关论文: Quality Diversity under Sparse Reward and Sparse I…

Quality-Diversity is a family of evolutionary algorithms that generate diverse, high-performing solutions through local competition principles inspired by natural evolution. While research has focused on improving specific aspects of…

This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranking and Criteria Evaluation (GRaCE), which employs…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Vision-guided robot grasping based on Deep Neural Networks (DNNs) generalizes well but poses safety risks in the Human-Robot Interaction (HRI). Recent works solved it by designing benign adversarial attacks and patches with RGB modality,…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…

While using shaped rewards can be beneficial when solving sparse reward tasks, their successful application often requires careful engineering and is problem specific. For instance, in tasks where the agent must achieve some goal state,…

Traditional optimization algorithms search for a single global optimum that maximizes (or minimizes) the objective function. Multimodal optimization algorithms search for the highest peaks in the search space that can be more than one.…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data. However, the real world presents an inherently unbounded range of scenarios, making it…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Reward comparisons are vital for evaluating differences in agent behaviors induced by a set of reward functions. Most conventional techniques utilize the input reward functions to learn optimized policies, which are then used to compare…

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable…

We study an emerging problem named "grasping the invisible" in robotic manipulation, in which a robot is tasked to grasp an initially invisible target object via a sequence of pushing and grasping actions. In this problem, pushes are needed…

This study investigates the impact of gradient compression on distributed training performance, focusing on sparsification and quantization techniques, including top-k, DGC, and QSGD. In baseline experiments, random-k compression results in…

This work studies the widely adopted ancestral sampling algorithms for auto-regressive language models, which is not widely studied in the literature. We use the quality-diversity (Q-D) trade-off to investigate three popular sampling…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…

This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…