相关论文: A Closed-Loop Multi-perspective Visual Servoing Ap…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Continual reinforcement learning aims to sequentially learn a variety of tasks, retaining the ability to perform previously encountered tasks while simultaneously developing new policies for novel tasks. However, current continual RL…

Vision-based reinforcement learning (RL) is a promising approach to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image…

This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Reinforcement learning is a powerful framework for robots to acquire skills from experience, but often requires a substantial amount of online data collection. As a result, it is difficult to collect sufficiently diverse experiences that…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Safe reinforcement learning (RL) aims to learn policies that satisfy certain constraints before deploying them to safety-critical applications. Previous primal-dual style approaches suffer from instability issues and lack optimality…

Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by means of coaching. Adopting a similar framework for…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…