相关论文: Two-Layer Attention Optimization for Bimanual Coor…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

We propose a reinforcement learning (RL)-based algorithm to jointly train (1) a trajectory planner and (2) a tracking controller in a layered control architecture. Our algorithm arises naturally from a rewrite of the underlying optimal…

Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…

This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…

Many real world tasks require multiple agents to work together. Multi-agent reinforcement learning (RL) methods have been proposed in recent years to solve these tasks, but current methods often fail to efficiently learn policies. We thus…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Entities in multi-agent systems may seek conflicting subobjectives, and this leads to competition between them. To address performance degradation due to competition, we consider a bi-level lottery where a social planner at the high level…

This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…

This paper focuses on a distributed coupled constrained convex optimization problem over directed unbalanced and time-varying multi-agent networks, where the global objective function is the sum of all agents' private local objective…

The self-attention mechanism, at the heart of the Transformer model, is able to effectively model pairwise interactions between tokens. However, numerous recent works have shown that it is unable to perform basic tasks involving detecting…

This paper proposes a double-layered framework (or form of network) to integrate two mechanisms, termed consensus and conservation, achieving distributed solution of a linear equation. The multi-agent framework considered in the paper is…

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…

When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…

There has recently been significant interest in training reinforcement learning (RL) agents in vision-based environments. This poses many challenges, such as high dimensionality and the potential for observational overfitting through…

Training agents in cooperative settings offers the promise of AI agents able to interact effectively with humans (and other agents) in the real world. Multi-agent reinforcement learning (MARL) has the potential to achieve this goal,…

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…

This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. We extend known dynamic programming methods to accommodate…

Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…

The learning process of a reinforcement learning (RL) agent remains poorly understood beyond the mathematical formulation of its learning algorithm. To address this gap, we introduce attention-oriented metrics (ATOMs) to investigate the…