相关论文: Efficient Residual Learning with Mixture-of-Expert…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional,…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

We present Residual Policy Learning (RPL): a simple method for improving nondifferentiable policies using model-free deep reinforcement learning. RPL thrives in complex robotic manipulation tasks where good but imperfect controllers are…

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…

One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or reliance on depth maps and object poses. In this paper, we…

Muscle-actuated organisms are capable of learning an unparalleled diversity of dexterous movements despite their vast amount of muscles. Reinforcement learning (RL) on large musculoskeletal models, however, has not been able to show similar…

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…

Mixture-of-Experts (MoE) architectures have emerged as a promising approach to scale Large Language Models (LLMs). MoE boosts the efficiency by activating a subset of experts per token. Recent works show that fine-grained experts…

This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…

Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant challenge. Existing deep reinforcement learning methods typically…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Multi-Task Reinforcement Learning (MTRL) tackles the long-standing problem of endowing agents with skills that generalize across a variety of problems. To this end, sharing representations plays a fundamental role in capturing both unique…