相关论文: TRANSIC: Sim-to-Real Policy Transfer by Learning f…

As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks, though effective on specific platforms, require extensive…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

This paper addresses a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a flexible object manipulation task. This strategy consists of three steps: (1)…

In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by…

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…

Systems for language-guided human-robot interaction must satisfy two key desiderata for broad adoption: adaptivity and learning efficiency. Unfortunately, existing instruction-following agents cannot adapt, lacking the ability to…

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this…

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

In this work we propose a learning-based approach to box loco-manipulation for a humanoid robot. This is a particularly challenging problem due to the need for whole-body coordination in order to lift boxes of varying weight, position, and…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Learning contact-rich manipulation skills is essential. Such skills require the robots to interact with the environment with feasible manipulation trajectories and suitable compliance control parameters to enable safe and stable contact.…