相关论文: Deep Reactive Policy: Learning Reactive Manipulato…

Reactive motion generation in dynamic and unstructured scenarios is typically subject to essentially static perception and system dynamics. Reliably modeling dynamic obstacles and optimizing collision-free trajectories under perceptive and…

High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…

Human-level contact-rich manipulation relies on the distinct roles of two key modalities: vision provides spatially rich but temporally slow global context, while force sensing captures rapid, high-frequency local contact dynamics.…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task failures. We present DCDP, a Dynamic Closed-Loop Diffusion…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Robust Markov decision processes (RMDPs) provide a promising framework for computing reliable policies in the face of model errors. Many successful reinforcement learning algorithms build on variations of policy-gradient methods, but…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Guided Policy Search enables robots to learn control policies for complex manipulation tasks efficiently. Therein, the control policies are represented as high-dimensional neural networks which derive robot actions based on states. However,…

This paper presents a Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) model for maneuver planning. Traditional rule-based maneuver planning approaches often have to improve their abilities to handle the variabilities…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

End-to-end learning of robot control policies, structured as neural networks, has emerged as a promising approach to robotic manipulation. To complete many common tasks, relevant objects are required to pass in and out of a robot's field of…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

We present a new approach to learning for planning, where knowledge acquired while solving a given set of planning problems is used to plan faster in related, but new problem instances. We show that a deep neural network can be used to…