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Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant directions such as "toward" or "along" the surface vary with position…

We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…

A large number of different feature detectors has been proposed so far. Any existing approach presents strengths and weaknesses, which make a detector optimal only for a limited range of applications. A tool capable of selecting the optimal…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

We consider learning a predictive model to be subsequently used for a given downstream task (described by an algorithm) that requires access to the model evaluation. This task need not be prediction, and this situation is frequently…

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…

We consider the problem of optimizing time averages in systems with independent and identically distributed behavior over renewal frames. This includes scheduling and task processing to maximize utility in stochastic networks with variable…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Constrained objects, such as doors and drawers are often complex and share a similar structure in the human environment. A robot needs to interact accurately with constrained objects to safely and successfully complete a task. Learning from…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…

Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Representation learning based on multi-task pretraining has become a powerful approach in many domains. In particular, task-aware representation learning aims to learn an optimal representation for a specific target task by sampling data…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They are used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc.,…