相关论文: Learning Dual-Arm Push and Grasp Synergy in Dense …

Robotic catching has traditionally focused on single-handed systems, which are limited in their ability to handle larger or more complex objects. In contrast, bimanual catching offers significant potential for improved dexterity and object…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual…

In this paper, a novel switching pushing skill algorithm is proposed to improve the efficiency of planar non-prehensile manipulation, which draws inspiration from human pushing actions and comprises two sub-problems, i.e., discrete…

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…

Robust and human-like dexterous grasping of general objects is a critical capability for advancing intelligent robotic manipulation in real-world scenarios. However, existing reinforcement learning methods guided by grasp priors often…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

Deep reinforcement learning (DRL) agents are trained through trial-and-error interactions with the environment. This leads to a long training time for dense neural networks to achieve good performance. Hence, prohibitive computation and…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

In scheduling problems common in the industry and various real-world scenarios, responding in real-time to disruptive events is essential. Recent methods propose the use of deep reinforcement learning (DRL) to learn policies capable of…

Deep reinforcement learning yields great results for a large array of problems, but models are generally retrained anew for each new problem to be solved. Prior learning and knowledge are difficult to incorporate when training new models,…

In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…

Clustered cell-free networking paves a new way for enabling scalable joint transmission among access points (APs) by partitioning the whole network into non-overlapping subnetworks. Previous works adopted clustering algorithms, graph…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…

Automated planning algorithms require an action model specifying the preconditions and effects of each action, but obtaining such a model is often hard. Learning action models from observations is feasible, but existing algorithms for…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

Non-prehensile pushing actions have the potential to singulate a target object from its surrounding clutter in order to facilitate the robotic grasping of the target. To address this problem we utilize a heuristic rule that moves the target…