相关论文: RL-Driven Data Generation for Robust Vision-Based …

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…

Virtual character animation control is a problem for which Reinforcement Learning (RL) is a viable approach. While current work have applied RL effectively to portray physics-based skills, social behaviours are challenging to design reward…

Visual reinforcement learning (RL), which makes decisions directly from high-dimensional visual inputs, has demonstrated significant potential in various domains. However, deploying visual RL techniques in the real world remains challenging…

Dexterous manipulation tasks involving contact-rich interactions pose a significant challenge for both model-based control systems and imitation learning algorithms. The complexity arises from the need for multi-fingered robotic hands to…

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to…

Dexterous hands exhibit significant potential for complex real-world grasping tasks. While recent studies have primarily focused on learning policies for specific robotic hands, the development of a universal policy that controls diverse…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

How can robots learn dexterous grasping skills efficiently and apply them adaptively based on user instructions? This work tackles two key challenges: efficient skill acquisition from limited human demonstrations and context-driven skill…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials presents unique challenges due to their high-dimensional…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Recent advances in on-policy reinforcement learning (RL) methods enabled learning agents in virtual environments to master complex tasks with high-dimensional and continuous observation and action spaces. However, leveraging this family of…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…