相关论文: Leveraging Locality to Boost Sample Efficiency in …

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in…

Data efficiency in robotic skill acquisition is crucial for operating robots in varied small-batch assembly settings. To operate in such environments, robots must have robust obstacle avoidance and versatile goal conditioning acquired from…

The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream effects on policy learning. This paper presents the first…

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…

3D reconstruction in large-scale scenes is a fundamental task in 3D perception, but the inherent trade-off between accuracy and computational efficiency remains a significant challenge. Existing methods either prioritize speed and produce…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…

We present Skywork R1V2, a next-generation multimodal reasoning model and a major leap forward from its predecessor, Skywork R1V. At its core, R1V2 introduces a hybrid reinforcement learning paradigm that jointly leverages the Mixed…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. Within this paper, we present methods that…

Safe reinforcement learning (RL) is crucial for deploying RL agents in real-world applications, as it aims to maximize long-term rewards while satisfying safety constraints. However, safe RL often suffers from sample inefficiency, requiring…

The aim of this paper is to study the influence of locality mechanisms in vision transformers. Transformers originated from machine translation and are particularly good at modelling long-range dependencies within a long sequence. Although…

Much of recent Deep Reinforcement Learning success is owed to the neural architecture's potential to learn and use effective internal representations of the world. While many current algorithms access a simulator to train with a large…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…

Task Parametrized Gaussian Mixture Models (TP-GMM) are a sample-efficient method for learning object-centric robot manipulation tasks. However, there are several open challenges to applying TP-GMMs in the wild. In this work, we tackle three…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is bottlenecked by the capabilities of the demonstrations.…