相关论文: Learning active tactile perception through belief-…

Objects in the world usually appear in context, participating in spatial relationships and interactions that are predictable and expected. Knowledge of these contexts can be used in the task of using a mobile camera to search for a…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates and performance. This…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

In many dynamic robotic tasks, such as striking pucks into a goal outside the reachable workspace, the robot must first identify the relevant physical properties of the object for successful task execution, as it is unable to recover from…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Environments with controllable dynamics are usually understood in terms of explicit models. However, such models are not always available, but may sometimes be learned by exploring an environment. In this work, we investigate using an…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…

Exploring and traversing extreme terrain with surface robots is difficult, but highly desirable for many applications, including exploration of planetary surfaces, search and rescue, among others. For these applications, to ensure the robot…

Much of the remarkable progress in computer vision has been focused around fully supervised learning mechanisms relying on highly curated datasets for a variety of tasks. In contrast, humans often learn about their world with little to no…

Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…