相关论文: BiKC: Keypose-Conditioned Consistency Policy for B…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer…

Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Real-world robot manipulation in dynamic unstructured environments requires lifelong adaptability to evolving objects, scenes and tasks. Traditional imitation learning relies on static training paradigms, which are ill-suited for lifelong…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

Model-based reinforcement learning has shown promise for improving sample efficiency and decision-making in complex environments. However, existing methods face challenges in training stability, robustness to noise, and computational…

Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

To effectively assist human workers in assembly tasks a robot must proactively offer support by inferring their preferences in sequencing the task actions. Previous work has focused on learning the dominant preferences of human workers for…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

Visuomotor policies often suffer from perceptual challenges, where visual differences between training and evaluation environments degrade policy performance. Policies relying on state estimations, like 6D pose, require task-specific…

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…