Search Results - "Machine Learning for Robot Control"

What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data by Mees, Oier, Hermann, Lukas, Burgard, Wolfram

“…A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and…”
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CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks by Mees, Oier, Hermann, Lukas, Rosete-Beas, Erick, Burgard, Wolfram Burgard

“…General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range…”
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Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments by Mittal, Mayank, Yu, Calvin, Yu, Qinxi, Liu, Jingzhou, Rudin, Nikita, Hoeller, David, Yuan, Jia Lin, Singh, Ritvik, Guo, Yunrong, Mazhar, Hammad, Mandlekar, Ajay, Babich, Buck, State, Gavriel, Hutter, Marco, Garg, Animesh

“…We present Orbit , a unified and modular framework for robot learning powered by Nvidia Isaac Sim. It offers a modular design to easily and efficiently create…”
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Model-Based Meta-Reinforcement Learning for Flight With Suspended Payloads by Belkhale, Suneel, Li, Rachel, Kahn, Gregory, McAllister, Rowan, Calandra, Roberto, Levine, Sergey

“…Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the…”
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Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms by Salzmann, Tim, Kaufmann, Elia, Arrizabalaga, Jon, Pavone, Marco, Scaramuzza, Davide, Ryll, Markus

“…Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control…”
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CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion by Bellegarda, Guillaume, Ijspeert, Auke

“…In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement…”
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A Lifelong Learning Approach to Mobile Robot Navigation by Liu, Bo, Xiao, Xuesu, Stone, Peter

“…This letter presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods…”
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Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks by Zhang, Xiang, Sun, Liting, Kuang, Zhian, Tomizuka, Masayoshi

“…Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different…”
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Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics by Yuan, Zhaocong, Hall, Adam W., Zhou, Siqi, Brunke, Lukas, Greeff, Melissa, Panerati, Jacopo, Schoellig, Angela P.

“…In recent years, both reinforcement learning and learning-based control-as well as the study of their safety , which is crucial for deployment in real-world…”
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Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain by Xiao, Xuesu, Biswas, Joydeep, Stone, Peter

“…This letter presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate…”
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K-mixup: Data augmentation for offline reinforcement learning using mixup in a Koopman invariant subspace by Jang, Junwoo, Han, Jungwoo, Kim, Jinwhan

“…In this study, we propose a new data augmentation technique, Koopman-mixup (K-mixup), to improve the learning stability and final performance of offline…”
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KNODE-MPC: A Knowledge-Based Data-Driven Predictive Control Framework for Aerial Robots by Chee, Kong Yao, Jiahao, Tom Z., Hsieh, M. Ani

“…In this letter, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to…”
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Data-driven predictive control of nonholonomic robots based on a bilinear Koopman realization: Data does not replace geometry by Rosenfelder, Mario, Bold, Lea, Eschmann, Hannes, Eberhard, Peter, Worthmann, Karl, Ebel, Henrik

“…Advances in machine learning and the growing trend towards effortless data generation in real-world systems have led to an increasing interest for…”
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Reinforcement Learning With Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion by Shi, Haojie, Zhou, Bo, Zeng, Hongsheng, Wang, Fan, Dong, Yueqiang, Li, Jiangyong, Wang, Kang, Tian, Hao, Meng, Max Q.-H.

“…Recently reinforcement learning (RL) has emerged as a promising approach for quadrupedal locomotion, which can save the manual effort in conventional…”
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A stable method for task priority adaptation in quadratic programming via reinforcement learning by Testa, Andrea, Laghi, Marco, Bianco, Edoardo Del, Raiola, Gennaro, Hoffman, Enrico Mingo, Ajoudani, Arash

“…In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the…”
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Deep Koopman Operator With Control for Nonlinear Systems by Shi, Haojie, Meng, Max Q.-H.

“…Recently Koopman operator has become a promising data-driven tool to facilitate real-time control for unknown nonlinear systems. It maps nonlinear systems into…”
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Learning-Based Balance Control of Wheel-Legged Robots by Cui, Leilei, Wang, Shuai, Zhang, Jingfan, Zhang, Dongsheng, Lai, Jie, Zheng, Yu, Zhang, Zhengyou, Jiang, Zhong-Ping

“…This letter studies the adaptive optimal control problem for a wheel-legged robot in the absence of an accurate dynamic model. A crucial strategy is to exploit…”
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OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control by Xu, Botian, Gao, Feng, Yu, Chao, Zhang, Ruize, Wu, Yi, Wang, Yu

“…In this letter, we introduce OmniDrones , an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse…”
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InsertionNet - A Scalable Solution for Insertion by Spector, Oren, Castro, Dotan Di

“…Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in…”
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Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors by Wu, Jinze, Xin, Guiyang, Qi, Chenkun, Xue, Yufei

“…Developing both robust and agile locomotion skills for legged robots is non-trivial. In this work, we present the first blind locomotion system capable of…”
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