相关论文: ManipForce: Force-Guided Policy Learning with Freq…

Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…

Humans rely on the synergy of their senses for most essential tasks. For tasks requiring object manipulation, we seamlessly and effectively exploit the complementarity of our senses of vision and touch. This paper draws inspiration from…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…

Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the objects. Humans can precisely achieve this by…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…

Although Reinforcement Learning (RL)-based Traffic Signal Control (TSC) methods have been extensively studied, their practical applications still raise some serious issues such as high learning cost and poor generalizability. This is…

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact properties. Solving such dexterous manipulation tasks often relies…

Recent research has shown that the integration of Reinforcement Learning (RL) with Moving Target Defense (MTD) can enhance cybersecurity in Internet-of-Things (IoT) devices. Nevertheless, the practicality of existing work is hindered by…

The embodied intelligence bridges the physical world and information space. As its typical physical embodiment, humanoid robots have shown great promise through robot learning algorithms in recent years. In this study, a hardware platform,…

We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…

This paper proposes Tac2Motion, a contact-aware reinforcement learning framework to facilitate the learning of contact-rich in-hand manipulation tasks, such as removing a lid. To this end, we propose tactile sensing-based reward shaping and…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…