相关论文: Closed-Loop Action Chunks with Dynamic Corrections…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This…

Conditional diffusion models have made impressive progress in the field of image processing, but the characteristics of constructing data distribution pathways make it difficult to exploit the intrinsic correlation between tasks in…

In dynamic programming (DP) and reinforcement learning (RL), an agent learns to act optimally in terms of expected long-term return by sequentially interacting with its environment modeled by a Markov decision process (MDP). More generally…

Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in…

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…

We establish a collection of closed-loop guarantees and propose a scalable optimization algorithm for distributionally robust model predictive control (DRMPC) applied to linear systems, convex constraints, and quadratic costs. Via standard…

Diffusion Models have revolutionized the field of human motion generation by offering exceptional generation quality and fine-grained controllability through natural language conditioning. Their inherent stochasticity, that is the ability…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic convergence and is exact, effectively managing rank…

Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown…

Scene-aware motion synthesis has been widely researched recently due to its numerous applications. Prevailing methods rely heavily on paired motion-scene data, while it is difficult to generalize to diverse scenes when trained only on a few…

We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…

Diffusion-based trajectory planners can synthesize rich, multimodal action sequences for offline reinforcement learning, but their iterative denoising incurs substantial inference-time cost, making closed-loop planning slow under tight…

Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing…