相关论文: Scalable Dexterous Robot Learning with AR-based Re…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

Reinforcement learning (RL) agents aim at learning by interacting with an environment, and are not designed for representing or reasoning with declarative knowledge. Knowledge representation and reasoning (KRR) paradigms are strong in…

We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance. Existing approaches typically rely on a single policy to…

Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale in…

Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-robot runtime, due to inefficient exploration when learning…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…

The focus of this work is to enumerate the various approaches and algorithms that center around application of reinforcement learning in robotic ma- ]]nipulation tasks. Earlier methods utilized specialized policy representations and human…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

Reinforcement Learning (RL) is an area of growing interest in the field of artificial intelligence due to its many notable applications in diverse fields. Particularly within the context of intelligent vehicle control, RL has made…

Real-world reinforcement learning (RL) offers a promising approach to training precise and dexterous robotic manipulation policies in an online manner, enabling robots to learn from their own experience while gradually reducing human labor.…