相关论文: Hierarchical World Models as Visual Whole-Body Hum…

Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic environments through manipulation. Table tennis exemplifies…

This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…

The automatic synthesis of policies for robotic-control tasks through reinforcement learning relies on a reward signal that simultaneously captures many possibly conflicting requirements. In this paper, we in\-tro\-duce a novel,…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…

Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…

Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies…

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…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

We propose a hierarchically structured reinforcement learning approach to address the challenges of planning for generating coherent multi-sentence stories for the visual storytelling task. Within our framework, the task of generating a…

We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…

Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot domain, and local defects may be amplified by closed-loop…

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…