相关论文: Learning Multimodal Attention for Manipulating Def…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Humans can possess good mechanics intuitions by learning from a few examples, which leads to the question of how to develop artificial mechanics intuitions that can be learned from small data, as we are eagerly entering the era of…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this paper, we explore an alternative paradigm which decomposes reasoning into three phases. First, a…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

We propose a tool-use model that can detect the features of tools, target objects, and actions from the provided effects of object manipulation. We construct a model that enables robots to manipulate objects with tools, using infant…

Recent developments in Large Language Models pre-trained on extensive corpora have shown significant success in various natural language processing tasks with minimal fine-tuning. This success offers new promise for robotics, which has long…

Gradient-based meta-learners such as MAML are able to learn a meta-prior from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. One important limitation of such frameworks is that they seek a common…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

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…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

In robotics, knowing the object states and recognizing the desired states are very important. Objects at different states would require different grasping. To achieve different states, different manipulations would be required, as well as…