相关论文: When would Vision-Proprioception Policies Fail in …

This paper presents an approach for learning vision-based planners that provably generalize to novel environments (i.e., environments unseen during training). We leverage the Probably Approximately Correct (PAC)-Bayes framework to obtain an…

Leveraging human grasping skills to teach a robot to perform a manipulation task is appealing, but there are several limitations to this approach: time-inefficient data capture procedures, limited generalization of the data to other grasps…

Humans use collaborative robots as tools for accomplishing various tasks. The interaction between humans and robots happens in tight shared workspaces. However, these machines must be safe to operate alongside humans to minimize the risk of…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Data Generation (CP-Gen), a method that uses a single expert…

Control policies from imitation learning can often fail to generalize to novel environments due to imperfect demonstrations or the inability of imitation learning algorithms to accurately infer the expert's policies. In this paper, we…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model…

6D robotic grasping beyond top-down bin-picking scenarios is a challenging task. Previous solutions based on 6D grasp synthesis with robot motion planning usually operate in an open-loop setting, which are sensitive to grasp synthesis…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…

A key drawback of the current generation of artificial decision-makers is that they do not adapt well to changes in unexpected situations. This paper addresses the situation in which an AI for aerial dog fighting, with tunable parameters…

Hierarchical coarse-to-fine policy, where a coarse branch predicts a region of interest to guide a fine-grained action predictor, has demonstrated significant potential in robotic 3D manipulation tasks by especially enhancing sample…

Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving…

Gradient-based optimizers are highly sensitive to design choices in their adaptive learning rate mechanisms. To address this limitation, we introduce POP, a meta-learned Reinforcement Learning (RL) policy that predicts adaptive learning…

Most optimizers including stochastic gradient descent (SGD) and its adaptive gradient derivatives face the same problem where an effective learning rate during the training is vastly different. A learning rate scheduling, mostly tuned by…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…