相关论文: Dynamic Task Control Method of a Flexible Manipula…

In this paper, we present an advanced strategy for the coordinated control of a multi-agent aerospace system, utilizing Deep Neural Networks (DNNs) within a reinforcement learning framework. Our approach centers on optimizing autonomous…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

Deep neural networks (DNNs) have substantial computational requirements, which greatly limit their performance in resource-constrained environments. Recently, there are increasing efforts on optical neural networks and optical computing…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

When executing a certain task, human beings can choose or make an appropriate tool to achieve the task. This research especially addresses the optimization of tool shape for robotic tool-use. We propose a method in which a robot obtains an…

Neural machine learning methods, such as deep neural networks (DNN), have achieved remarkable success in a number of complex data processing tasks. These methods have arguably had their strongest impact on tasks such as image and audio…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

Diffusion-based image synthesis has attracted extensive attention recently. In particular, ControlNet that uses image-based prompts exhibits powerful capability in image tasks such as canny edge detection and generates images well aligned…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

In robots task and motion planning (TAMP), it is crucial to sample within the robot's configuration space to meet task-level global constraints and enhance the efficiency of subsequent motion planning. Due to the complexity of joint…

Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…

Photonic neural networks are brain-inspired information processing technology using photons instead of electrons to perform artificial intelligence (AI) tasks. However, existing architectures are designed for a single task but fail to…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

Animals (especially humans) have an amazing ability to learn new tasks quickly, and switch between them flexibly. How brains support this ability is largely unknown, both neuroscientifically and algorithmically. One reasonable supposition…