相关论文: Redundancy-aware Action Spaces for Robot Learning

This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon…

Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…

The reinforcement learning (RL) framework formalizes the notion of learning with interactions. Many real-world problems have large state-spaces and/or action-spaces such as in Go, StarCraft, protein folding, and robotics or are…

Hierarchical decomposition of control is unavoidable in large dynamical systems. In reinforcement learning (RL), it is usually solved with subgoals defined at higher policy levels and achieved at lower policy levels. Reaching these goals…

To achieve general-purpose utility, we argue that robots must evolve from passive executors into active Information Retrieval users. In strictly zero-shot settings where no prior demonstrations exist, robots face a critical information gap,…

Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and…

We developed a 3D end-effector type of upper limb assistive robot, named as Assistive Robotic Arm Extender (ARAE), that provides transparency movement and adaptive arm support control to achieve home-based therapy and training in the real…

Efficient job-shop scheduling with transportation resources is critical for high-performance manufacturing. With the rise of "decentralized factories", multi-agent reinforcement learning has emerged as a promising approach for the combined…

Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…

Efficiently tackling multiple tasks within complex environment, such as those found in robot manipulation, remains an ongoing challenge in robotics and an opportunity for data-driven solutions, such as reinforcement learning (RL).…

The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a result of the execution of several tasks. Moreover, in…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Mission-oriented drone networks have been widely used for structural inspection, disaster monitoring, border surveillance, etc. Due to the limited battery capacity of drones, mission execution strategy impacts network performance and…

Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…

We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation,…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…