相关论文: Imitation Learning with Precisely Labeled Human De…

State-of-the-art human-in-the-loop robot grasping is hugely suffered by Electromyography (EMG) inference robustness issues. As a workaround, researchers have been looking into integrating EMG with other signals, often in an ad hoc manner.…

Humans excel in grasping objects through diverse and robust policies, many of which are so probabilistically rare that exploration-based learning methods hardly observe and learn. Inspired by the human learning process, we propose a method…

Effective human-robot interaction, such as in robot learning from human demonstration, requires the learning agent to be able to ground abstract concepts (such as those contained within instructions) in a corresponding high-dimensional…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…

Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…

Imitation learning (IL) algorithms use expert demonstrations to learn a specific task. Most of the existing approaches assume that all expert demonstrations are reliable and trustworthy, but what if there exist some adversarial…

Modeling animatable human avatars from videos is a long-standing and challenging problem. While conventional methods require per-instance optimization, recent feed-forward methods have been proposed to generate 3D Gaussians with a learnable…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…