相关论文: Observe Then Act: Asynchronous Active Vision-Actio…
A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
The Visibility-based Persistent Monitoring (VPM) problem seeks to find a set of trajectories (or controllers) for robots to persistently monitor a changing environment. Each robot has a sensor, such as a camera, with a limited field-of-view…
Visual observations from different viewpoints can significantly influence the performance of visuomotor policies in robotic manipulation. Among these, egocentric (in-hand) views often provide crucial information for precise control.…
The object manipulation is a crucial ability for a service robot, but it is hard to solve with reinforcement learning due to some reasons such as sample efficiency. In this paper, to tackle this object manipulation, we propose a novel…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…
Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation…
In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is…
Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…
Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…
Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…