相关论文: Dynamic Non-Prehensile Object Transport via Model-…

In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as motion washout,…

With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…

This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even…

This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

While reinforcement learning (RL) algorithms are achieving state-of-the-art performance in various challenging tasks, they can easily encounter catastrophic forgetting or interference when faced with lifelong streaming information. In the…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Large transformer models trained on diverse datasets have shown a remarkable ability to learn in-context, achieving high few-shot performance on tasks they were not explicitly trained to solve. In this paper, we study the in-context…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

A rich representation is key to general robotic manipulation, but existing approaches to representation learning require large amounts of multimodal demonstrations. In this work we propose PLEX, a transformer-based architecture that learns…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…