相关论文: Generalizable Motion Policies through Keypoint Par…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking policies are often brittle outside the demonstration…

We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

Learning to locomote to arbitrary goals on hardware remains a challenging problem for reinforcement learning. In this paper, we present a hierarchical learning framework that improves sample-efficiency and generalizability of locomotion…

Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…

Algorithms for learning programmatic representations for sequential decision-making problems are often evaluated on out-of-distribution (OOD) problems, with the common conclusion that programmatic policies generalize better than neural…

Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

In robotics, it is often not possible to learn useful policies using pure model-free reinforcement learning without significant reward shaping or curriculum learning. As a consequence, many researchers rely on expert demonstrations to guide…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of the manipulation policy in complex tasks. However, recent…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…