相关论文: Symmetry-aware Reinforcement Learning for Robotic …

Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…

A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…

Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…

Recent works have proposed accelerating the wall-clock training time of actor-critic methods via the use of large-scale environment parallelization; unfortunately, these can sometimes still require large number of environment interactions…

Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…

In this paper we explore methods to exploit symmetries for ensuring sample efficiency in reinforcement learning (RL), this problem deserves ever increasing attention with the recent advances in the use of deep networks for complex RL tasks…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Reinforcement learning (RL) suffers from low sample efficiency, particularly in high-dimensional continuous state-action spaces of complex robotic manipulation tasks. RL performance can improve by leveraging prior knowledge, even when…

Model-based reinforcement learning (RL) algorithms can attain excellent sample efficiency, but often lag behind the best model-free algorithms in terms of asymptotic performance. This is especially true with high-capacity parametric…

Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…

Robot manipulation requires a complex set of skills that need to be carefully combined and coordinated to solve a task. Yet, most ReinforcementLearning (RL) approaches in robotics study tasks which actually consist only of a single…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…

Gear assembly is an essential but challenging task in industrial automation. This paper presents a novel two-stage approach for achieving high-precision and flexible gear assembly. The proposed approach integrates YOLO to coarsely localize…

Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…

Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Existing soft end-effectors face fundamental…

Insertion is a challenging haptic and visual control problem with significant practical value for manufacturing. Existing approaches in the model-based robotics community can be highly effective when task geometry is known, but are complex…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

We study provable multi-agent reinforcement learning (RL) in the general framework of partially observable stochastic games (POSGs). To circumvent the known hardness results and the use of computationally intractable oracles, we advocate…