相关论文: A Primer on SO(3) Action Representations in Deep R…

Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…

The use of deep reinforcement learning allows for high-dimensional state descriptors, but little is known about how the choice of action representation impacts the learning difficulty and the resulting performance. We compare the impact of…

Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the SO(3) representation, which hinders both the training and…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet…

Invariance and equivariance to the rotation group have been widely discussed in the 3D deep learning community for pointclouds. Yet most proposed methods either use complex mathematical tools that may limit their accessibility, or are tied…

Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Tracking and forecasting the rotation of objects is fundamental in computer vision and robotics, yet SO(3) extrapolation remains challenging as (1) sensor observations can be noisy and sparse, (2) motion patterns can be governed by complex…

Panoramic semantic segmentation models are typically trained under a strict gravity-aligned assumption. However, real-world captures often deviate from this canonical orientation due to unconstrained camera motions, such as the rotational…

Designing reinforcement learning (RL) problems that can produce delicate and precise manipulation policies requires careful choice of the reward function, state, and action spaces. Much prior work on applying RL to manipulation tasks has…

Most reinforcement learning methods rely heavily on dense, well-normalized environment rewards. DreamerV3 recently introduced a model-based method with a number of tricks that mitigate these limitations, achieving state-of-the-art on a wide…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…

Deep reinforcement learning (RL) has gained widespread adoption in recent years but faces significant challenges, particularly in unknown and complex environments. Among these, high-dimensional action selection stands out as a critical…

Recent work has shown that reinforcement learning (RL) is a promising approach to control dynamical systems described by partial differential equations (PDE). This paper shows how to use RL to tackle more general PDE control problems that…

End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivariance, or the SE(3)-equivariance can be exploited to improve the…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…