相关论文: Robot Body Schema Learning from Full-body Extero/P…

We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstacles, expanding the set of tasks it can perform. This…

This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…

In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Robots are used in more and more complex environments, and are expected to be able to adapt to changes and unknown situations. The easiest and quickest way to adapt is to change the control system of the robot, but for increasingly complex…

We learn sensor trees from training data to minimize sensor acquisition costs during test time. Our system adaptively selects sensors at each stage if necessary to make a confident classification. We pose the problem as empirical risk…

Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…

Estimating the number of degrees of freedom of a mechanical system or an engineering structure from the time-series of a small set of sensors is a basic problem in diagnostics, which, however, is often overlooked when monitoring their…

In biological systems, sensing is not performed by the brain alone: the body deforms, vibrates, and filters external stimuli before they are transduced into neural signals. In engineered systems, this processing burden is placed largely on…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…

Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

Recent works in end-to-end control for autonomous driving have investigated the use of vision-based exteroceptive perception. Inspired by such results, we propose a new end-to-end memory-based neural architecture for robot steering and…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…

Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…

This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic…

This work investigates how a naive agent can acquire its own body image in a self-supervised way, based on the predictability of its sensorimotor experience. Our working hypothesis is that, due to its temporal stability, an agent's body…