相关论文: Unlock Reliable Skill Inference for Quadruped Adap…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

Mastering educational concepts requires understanding both their prerequisites (e.g., recursion before merge sort) and sub-concepts (e.g., merge sort as part of sorting algorithms). Capturing these dependencies is critical for identifying…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…

Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…

Automated vehicles need to be aware of the capabilities they currently possess. Skill graphs are directed acylic graphs in which a vehicle's capabilities and the dependencies between these capabilities are modeled. The skills a vehicle…

Recently, Retrieval-Augmented Generation (RAG) has achieved remarkable success in addressing the challenges of Large Language Models (LLMs) without necessitating retraining. By referencing an external knowledge base, RAG refines LLM…

In the task of Knowledge Graph Completion (KGC), the existing datasets and their inherent subtasks carry a wealth of shared knowledge that can be utilized to enhance the representation of knowledge triplets and overall performance. However,…

Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode,…

In the realm of computational knowledge representation, Knowledge Graph Reasoning (KG-R) stands at the forefront of facilitating sophisticated inferential capabilities across multifarious domains. The quintessence of this research…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Large Language Models (LLMs) and Knowledge Graphs (KGs) offer a promising approach to robust and explainable Question Answering (QA). While LLMs excel at natural language understanding, they suffer from knowledge gaps and hallucinations.…

Data efficiency in robotic skill acquisition is crucial for operating robots in varied small-batch assembly settings. To operate in such environments, robots must have robust obstacle avoidance and versatile goal conditioning acquired from…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Robot navigation has transitioned from prioritizing obstacle avoidance to adopting socially aware navigation strategies that accommodate human presence. As a result, the recognition of socially aware navigation within dynamic human-centric…

Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…