相关论文: Zero-Shot Sim-to-Real Reinforcement Learning for F…

This paper considers a class of reinforcement learning problems, which involve systems with two types of states: stochastic and pseudo-stochastic. In such systems, stochastic states follow a stochastic transition kernel while the…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

In learning-to-learn the goal is to infer a learning algorithm that works well on a class of tasks sampled from an unknown meta distribution. In contrast to previous work on batch learning-to-learn, we consider a scenario where tasks are…

We propose a reinforcement learning solution to the \emph{soccer dribbling task}, a scenario in which a soccer agent has to go from the beginning to the end of a region keeping possession of the ball, as an adversary attempts to gain…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…

The online 3D bin packing problem is important in logistics, warehousing and intelligent manufacturing, with solutions shifting to deep reinforcement learning (DRL) which faces challenges like low sample efficiency. This paper proposes a…

In precision agriculture, the scarcity of labeled data and significant covariate shifts pose unique challenges for training machine learning models. This scarcity is particularly problematic due to the dynamic nature of the environment and…

Offline or batch reinforcement learning seeks to learn a near-optimal policy using history data without active exploration of the environment. To counter the insufficient coverage and sample scarcity of many offline datasets, the principle…

In this work we propose a learning-based approach to box loco-manipulation for a humanoid robot. This is a particularly challenging problem due to the need for whole-body coordination in order to lift boxes of varying weight, position, and…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

Following the Unlimited Sampling strategy to alleviate the omnipresent dynamic range barrier, we study the problem of recovering a bandlimited signal from point-wise modulo samples, aiming to connect theoretical guarantees with hardware…

Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. This paper introduces an efficient end-to-end robotic system…

Consider a truck filled with boxes of varying size and unknown mass and an industrial robot with end-effectors that can unload multiple boxes from any reachable location. In this work, we investigate how would the robot with the help of a…

In today competitive business environment, efficient logistics are essential, especially in industries where timely delivery matters. This research aims to improve warehouse picking cycle time through simulation-based analysis, using a…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Even though the peg-hole insertion is one of the well-studied problems in robotics, it still remains a challenge for robots, especially when it comes to flexibility and the ability to generalize. Successful completion of the task requires…