相关论文: Tactile-based Active Inference for Force-Controlle…

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Robot control for tactile feedback-based manipulation can be difficult due to the modeling of physical contacts, partial observability of the environment, and noise in perception and control. This work focuses on solving partial…

In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example,…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new environment and set of tasks to encourage development of tactile reinforcement…

Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making classical control challenging. Deep…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

Anchor-bolt insertion is a peg-in-hole task performed in the construction field for holes in concrete. Efforts have been made to automate this task, but the variable lighting and hole surface conditions, as well as the requirements for…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…

In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the hole in a pre-insertion configuration. Random actuation…

Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline…

In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…

Robotic manipulation tasks such as object insertion typically involve interactions between object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields (NCF) use intrinsic tactile sensing between gripper and object…