相关论文: Diff-Transfer: Model-based Robotic Manipulation Sk…

Recently, diffusion transformers have gained wide attention with its excellent performance in text-to-image and text-to-vidoe models, emphasizing the need for transformers as backbone for diffusion models. Transformer-based models have…

Transfer learning is a powerful technique for knowledge-sharing between different tasks. Recent work has found that the representations of models with certain invariances, such as to adversarial input perturbations, achieve higher…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent…

This paper proposes the Transition Motion Tensor, a data-driven framework that creates novel and physically accurate transitions outside of the motion dataset. It enables simulated characters to adopt new motion skills efficiently and…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first time, an efficient sim2real transfer in combination with a…

Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…

Recent differentiable rendering techniques have become key tools to tackle many inverse problems in graphics and vision. Existing models, however, assume steady-state light transport, i.e., infinite speed of light. While this is a safe…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Generating synthetic images that closely mimic…

Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

The ability for robots to transfer their learned knowledge to new tasks -- where data is scarce -- is a fundamental challenge for successful robot learning. While fine-tuning has been well-studied as a simple but effective transfer approach…

Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex…