相关论文: Swooper: Learning High-Speed Aerial Grasping With …

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…

Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network to estimate the reward of grasp primitives. In this work, we extend this approach…

Recent advances in on-policy reinforcement learning (RL) methods enabled learning agents in virtual environments to master complex tasks with high-dimensional and continuous observation and action spaces. However, leveraging this family of…

We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…

Snake robots, comprised of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate through the complex environment via the…

This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the…

Aerial robots interacting with objects must perform precise, contact-rich maneuvers under uncertainty. In this paper, we study the problem of aerial ball juggling using a quadrotor equipped with a racket, a task that demands accurate…

Collision avoidance is a crucial task in vision-guided autonomous navigation. Solutions based on deep reinforcement learning (DRL) has become increasingly popular. In this work, we proposed several novel agent state and reward function…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems' accessible area by navigating through narrow…

Universal grasping with multi-fingered dexterous hands is a fundamental challenge in robotic manipulation. While recent approaches successfully learn closed-loop grasping policies using reinforcement learning (RL), the inherent difficulty…

In this work, we devise a new, general-purpose reinforcement learning strategy for the optimal control of parametric dynamical systems. Such problems frequently arise in applied sciences and engineering and entail a significant complexity…

Preference-based Reinforcement Learning (PbRL) enables policy learning through simple queries comparing trajectories from a single policy. While human responses to these queries make it possible to learn policies aligned with human…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep…