相关论文: Robotic Table Tennis: A Case Study into a High Spe…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

Human beings are particularly good at reasoning and inference from just a few examples. When facing new tasks, humans will leverage knowledge and skills learned before, and quickly integrate them with the new task. In addition to learning…

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…

We describe a system for deep reinforcement learning of robotic manipulation skills applied to a large-scale real-world task: sorting recyclables and trash in office buildings. Real-world deployment of deep RL policies requires not only…

The ability to accurately predict the surrounding environment is a foundational principle of intelligence in biological and artificial agents. In recent years, a variety of approaches have been proposed for learning to predict the physical…

We demonstrate the first reinforcement-learning application for robots equipped with an event camera. Because of the considerably lower latency of the event camera, it is possible to achieve much faster control of robots compared with the…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…

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…

In this paper, we present a real-time egocentric trajectory prediction system for table tennis using event cameras. Unlike standard cameras, which suffer from high latency and motion blur at fast ball speeds, event cameras provide higher…

A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…

In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

The work presented in this paper aims to explore how, and to what extent, an adaptive robotic coach has the potential to provide extra motivation to adhere to long-term rehabilitation and help fill the coaching gap which occurs during…

In the last decade, deep learning has achieved great success in machine learning tasks where the input data is represented with different levels of abstractions. Driven by the recent research in reinforcement learning using deep neural…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

Long-horizon, high-dynamic motion tracking on humanoids remains brittle because absolute joint commands cannot compensate model-plant mismatch, leading to error accumulation. We propose RobotDancing, a simple, scalable framework that…