相关论文: DiffOG: Differentiable Policy Trajectory Optimizat…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…

Trust region-based optimization methods have become foundational reinforcement learning algorithms that offer stability and strong empirical performance in continuous control tasks. Growing interest in scalable and reusable control policies…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

We consider the problem of learning to perform a task from demonstrations given by teachers or experts, when some of the experts' demonstrations might be adversarial and demonstrate an incorrect way to perform the task. We propose a novel…

Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…

The sparsity of reward feedback remains a challenging problem in online deep reinforcement learning (DRL). Previous approaches have utilized offline demonstrations to achieve impressive results in multiple hard tasks. However, these…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot positions and camera viewpoints. This leads to poor…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

In the real world, trajectory data is often sparse and incomplete due to low collection frequencies or limited device coverage. Trajectory recovery aims to recover these missing trajectory points, making the trajectories denser and more…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or behavioral distribution shifts, and their performance is…

Most mobile robots follow a modular sense-planact system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matches. Planning in belief…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

Decision-making stands as a pivotal component in the realm of autonomous vehicles (AVs), playing a crucial role in navigating the intricacies of autonomous driving. Amidst the evolving landscape of data-driven methodologies, enhancing…

The performance of generative adversarial networks (GANs) heavily deteriorates given a limited amount of training data. This is mainly because the discriminator is memorizing the exact training set. To combat it, we propose Differentiable…