相关论文: CyberDemo: Augmenting Simulated Human Demonstratio…

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…

In recent years, we have seen an emergence of data-driven approaches in robotics. However, most existing efforts and datasets are either in simulation or focus on a single task in isolation such as grasping, pushing or poking. In order to…

We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…

To build general robotic agents that can operate in many environments, it is often imperative for the robot to collect experience in the real world. However, this is often not feasible due to safety, time, and hardware restrictions. We thus…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…

This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator…

Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation,…

In recent years, the interdisciplinary research between information science and neuroscience has been a hotspot. In this paper, based on recent biological findings, we proposed a new model to mimic visual information processing, motor…