相关论文: Controlling diverse robots by inferring Jacobian f…

Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…

The nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear behaviors in a linear format. Accurate controllers like…

Existing approaches for visuomotor robotic control typically require characterizing the robot in advance by calibrating the camera or performing system identification. We propose MAVRIC, an approach that works with minimal prior knowledge…

While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…

We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the input video frames with a deep Convolutional Neural Networks…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production…

Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…