相关论文: Learning Efficient Robotic Garment Manipulation wi…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

We present a novel goal-conditioned recurrent state space (GC-RSSM) model capable of learning latent dynamics of pick-and-place garment manipulation. Our proposed method LaGarNet matches the state-of-the-art performance of mesh-based…

The Bin Packing Problem (BPP) has attracted enthusiastic research interest recently, owing to widespread applications in logistics and warehousing environments. It is truly essential to optimize the bin packing to enable more objects to be…

Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Approximate unlearning has gained popularity as an approach to efficiently update an LLM so that it behaves (roughly) as if it was not trained on a subset of data to begin with. However, existing methods are brittle in practice and can…

We address a benchmark task in agile robotics: catching objects thrown at high-speed. This is a challenging task that involves tracking, intercepting, and cradling a thrown object with access only to visual observations of the object and…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Convolutional neural network training can suffer from diverse issues like exploding or vanishing gradients, scaling-based weight space symmetry and covariant-shift. In order to address these issues, researchers develop weight regularization…

Real-time single-stage object detectors based on deep learning still remain less accurate than more complex ones. The trade-off between model performance and computational speed is a major challenge. In this paper, we propose a new way to…

Meta-learning represents a strong class of approaches for solving few-shot learning tasks. Nonetheless, recent research suggests that simply pre-training a generic encoder can potentially surpass meta-learning algorithms. In this paper, we…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

While recent continual learning methods largely alleviate the catastrophic problem on toy-sized datasets, some issues remain to be tackled to apply them to real-world problem domains. First, a continual learning model should effectively…

This paper proposes a single-shot approach for recognising clothing categories from 2.5D features. We propose two visual features, BSP (B-Spline Patch) and TSD (Topology Spatial Distances) for this task. The local BSP features are encoded…