Robotics: Rolling robots on a moving platform can be controlled.
problem Controlling the motion of rolling robots atop a moving platform.
method Developed a mathematical model and demonstrated simulations.
result Platform acceleration can control robot's heading and motion.
Robot learns agile leg movements from simulations to real robots.
problem Training legged robots for dynamic maneuvers is challenging and expensive.
method Simulation-based reinforcement learning for real legged systems.
result ANYmal robot can follow high-level commands, run faster, and recover from falls.
Transfer learning improves dynamic model transfer for soft robotic hands.
problem Improving dynamic model transfer for underactuated soft robotic hands.
method Derive an upper bound on the Lyapunov exponent and use it to improve transfer.
result Significant improvement over traditional fine-tuning methods.
Robot predicts future frames for navigating dynamic environments using LSTM autoencoder.
problem Predicting movement of objects in dynamic environments with moving obstacles.
method Multi-layer LSTM autoencoder network that reconstructs future frames conditioned on the agent's action.
result The proposed network generates future frames that can be used by reinforcement learning for navigation.
Hybrid method uses GP models to control robot trajectories.
problem Minimizing unmodeled dynamics in robot motion.
method Embeds non-parametric statistical models (GPs) for feedback control.
result Proposed method avoids complex analysis for wide trajectory classes.
Semi-parametric models improve robot dynamics modeling accuracy.
problem Improving inverse dynamics model accuracy in robotics.
method Comparison of semi-parametric Gaussian process regression and a novel model-based neural network.
result Semi-parametric Gaussian process regression yields the most accurate models.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
problem Developers need guidance on selecting and constructing transfer functions for bionic robots.
method Comprehensive evaluation strategy including data collection, learning model selection, comparative analysis, and transfer function identification.
result A framework for effectively dealing with multi-input multi-output robotic data.
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting motions while performing computations. Another advantage when robots are involved…
Top 8 robotic vision systems tackled lifelong object recognition challenges.
problem Lifelong learning in robotic vision for varied, dynamic environments.
method Design of a dataset with diverse conditions and rules for evaluation.
result Robotic vision systems improved over time with dynamic object appearances.
Safe reinforcement learning for robots using model predictive shielding.
problem Ensuring safety of learned policies in robotics tasks.
method Model Predictive Shielding (MPS) that switches between learned and backup policies.
result Guaranteed safety of learned policies in challenging robotics tasks.
Introduces GFC for learning complex dynamical systems with geometric constraints.
problem Challenges in accurately modeling and predicting complex dynamical systems with geometric constraints.
method Geometric Contact Flows (GFC) using Riemannian and Contact geometry as inductive biases.
result Ensemble of contactomorphisms adapt the latent contact Hamiltonian model to target dynamics while preserving desirable properties.
New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
Robo-PlaNet learns robot tasks faster than PlaNet.
problem Training robot tasks with limited or noisy sensor data.
method Asynchronous version of PlaNet that interleaves dynamics model training and data collection.
result Robo-PlaNet achieves higher performance in less time.
Robot learns from human actions to perform complex tasks.
problem Learning complex skills from interaction data with embodiment differences.
method Formulated graphical model, treated action as observed variable, used domain-dependent prior.
result Robotic planning agent can learn tool use from human observations.
The paper studies how neural policies can be interpreted using decision trees.
problem Understanding how machine learning controllers make decisions in complex environments.
method The approach involves disentangled representation using decision trees to interpret neural policies.
result The paper shows that disentanglement of learned neural dynamics improves interpretability.
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
problem Challenges in applying imitation learning to bimanual robotic tasks.
method Integrates physical robot structure into action prediction using a dynamic spatial-temporal graph and differentiable kinematics.
result Effective generation of kinematics-aware actions in both simulation and real-world environments.
Reinforcement learning optimizes robot trajectories for unknown dynamics.
problem Optimizing robot trajectories for systems with unknown dynamics.
method Curriculum learning with reinforcement learning to generate smooth trajectories.
result Reinforcement learning agent outperforms PID controllers in trajectory tracking.
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the latter exploits a suitable kernel function. We provide an extensive comparison …
Paper learns particle dynamics for versatile object manipulation.
problem Challenges in traditional rigid-body physics engines for complex scenes.
method Combines learning with particle-based systems for versatile object manipulation.
result Robots achieve complex manipulation tasks using the learned simulator.
Adapts to new environments in robotics using latent variable models.
problem Learning dynamics in robotic environments with subtle variations.
method Variational inference for latent representation, online Bayesian inference, neural network ensemble.
result Positive transfer during training and online adaptation on HalfCheetah task.
Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handful of trials (a dozen) and a few minutes? By analogy with the wo…
Agent uses message passing to optimize robot navigation, balancing exploration and exploitation.
problem Optimizing robot navigation in continuous-valued spaces with uncertainty.
method Autoregressive active inference agent using message passing on a factor graph.
result Agent modulates action based on predictive uncertainty, leading to better model of dynamics.
The paper formalizes robot environments using topological concepts.
problem Determining indistinguishable environments for robots.
method Formalizing robot systems as topological dynamical systems, using covering maps and bisimulation.
result Covering maps can witness indistinguishability of environments under general conditions.
Mitigates instability in reinforcement learning for safer robotics.
problem Unstable training dynamics in reinforcement learning, especially for safety-sensitive tasks.
method Maintains a history of the agent and reverts to previous parameters when performance decreases.
result Improves performance and stability compared to state-of-the-art algorithms.
Robots' agility in changing terrain helps financial models adapt to market shifts.
problem Challenges in financial market forecasting due to regime switching.
method Adapts pretrained LLMs using intrinsic market rewards and reinforcement learning.
result Significantly improved accuracy in adapting to market regime shifts.
Enhances robotic grasping efficiency with learning-adaptive imagination.
problem Improving sample efficiency and performance in robotic grasping tasks.
method Learning-adaptive imagination approach using ensemble of local dynamics models in latent space.
result Significantly improves sample efficiency and achieves near-optimal performance.
This work proposes a RL approach to learn versatile robotic manipulation tasks.
problem Challenging manipulation tasks in robotics and vision.
method Reinforcement learning (RL) to combine primitive skills, no intermediate rewards, few demonstrations, and efficient skill learning.
result Versatile robotic manipulation in challenging settings with temporary occlusions and dynamic scene changes.
Continuous state spaces and stochastic, switching dynamics characterize a number of rich, realworld domains, such as robot navigation across varying terrain. We describe a reinforcementlearning algorithm for learning in these domains and prove for certain environments the algorithm is probably approximately correct wit…
A method for learning a context latent vector to improve generalization in model-based RL.
problem Learning a global dynamics model that can generalize across different dynamics.
method Decomposes learning a global dynamics model into two stages: learning a context latent vector and predicting next states.
result Achieves superior generalization across various simulated robotics and control tasks.
DistGP models multi-robot mapping with distributed Gaussian process learning.
problem Collaborative mapping by multiple robots with limited local data.
method Sparse Gaussian process with factorisation and distributed training via GBP.
result DistGP achieves superior accuracy and robustness compared to DiNNO.
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two classes) are placed in a common framework. While model classes used in the litera…
A new reinforcement learning method for robots thinking and moving simultaneously.
problem Concurrent control in robotic systems where actions must be decided while the system is still evolving.
method Continuous-time Bellman equations, discretization aware of system delays, and architectural extension to deep reinforcement learning.
result The method successfully handles tasks requiring simultaneous decision-making and action execution.
The paper introduces a method to create more reliable models for robot dynamics.
problem Creating accurate models for robot dynamics to improve control and planning algorithms.
method A primal-dual method to enforce constraints on error in specific parts of the state-space.
result The learned models have more predictable error characteristics, enhancing their usability for planning and control algorithms.
New framework shows finite-difference estimates can be more efficient for nearly deterministic systems.
problem Understanding and improving policy gradient estimation for nearly deterministic systems.
method Developed a theoretical framework focusing on the variance of finite-difference estimates compared to the policy gradient theorem.
result Finite-difference estimates can have lower variance for nearly deterministic systems, making them more efficient.
Robot learns to juggle two balls from 56 minutes of experience.
problem Learning high-acceleration tasks in the real-world with binary rewards.
method Designs a learning system that incorporates safety and sample efficiency.
result High-speed manipulator learns to juggle for up to 33 minutes.
A new Bayesian MBRL method improves performance in robotics tasks.
problem Enhancing model-based reinforcement learning with uncertainty.
method Introduces variational inference MPC and probabilistic action ensembles with trajectory sampling (PaETS).
result Consistently improves performance on challenging locomotion tasks.
NDPs embed dynamical systems into neural networks for efficient sensorimotor learning.
problem Training policies directly in raw action spaces limits scalability for continuous tasks.
method Embed dynamical systems into neural networks to learn robot behaviors via demonstrations.
result NDPs outperform prior methods in both imitation and reinforcement learning setups.
This paper proposes a self-supervised exploration method using disagreement of dynamics models.
problem Efficient exploration in stochastic environments with real robots.
method Train an ensemble of dynamics models and incentivize exploration to maximize disagreement.
result Sample-efficient exploration achieved without external rewards or reinforcement learning.
Hierarchical RL system for robotic manipulation with explainable decision-making.
problem Interpretability of robot decision-making for human operators.
method Dot-to-Dot: Hierarchical Deep Reinforcement Learning.
result Efficient learning of complex actions/states by low-level agent and interpretable high-level representation.
SAVED safely learns robot tasks with sparse rewards.
problem Challenges in reinforcement learning for robotics, especially sparse rewards and complex constraints.
method SAVED uses supervision to constrain exploration and learn efficiently, handling complex constraints.
result SAVED outperforms state-of-the-art methods in success rate, constraint satisfaction, and sample efficiency.
Data-driven control of robotic systems using Koopman operators with error bounds.
problem Real-time control of nonlinear robotic systems with unknown dynamics.
method Constructing a Koopman operator-based linear representation using higher-order derivatives of nonlinear dynamics, with error bounds derived from Taylor series accuracy analysis.
result The Koopman model provides marginally better performance than competing nonlinear modeling methods and can be efficiently controlled using linear control design tools.
Algorithm improves sample efficiency for dynamic task adaptation.
problem Sample inefficiency in imitation learning for changing task distributions.
method Assigns importance weights to past demonstrations for meta adaptation.
result Robot adapts to unseen environments with few demonstrations.
Robots learn object dynamics from visuals using GNNs and relational biases.
problem Challenging for robots to reason like humans about physical interactions.
method Graph Neural Networks (GNNs) with relational inductive bias.
result Auto-Predictor outperforms GN-based models and auto-encoder baseline.
q-VAE extracts disentangled latent spaces for robot control and dynamic systems.
problem Disentangled representation learning for latent spaces in robotics.
method Proposes q-VAE based on Tsallis statistics, improving disentanglement and latent dynamics.
result Improves disentangled representation while maintaining data reconstruction accuracy.
Proposes a method to boost deep reinforcement learning with sparse rewards.
problem Challenges in learning complex behaviors with long horizons and sparse rewards.
method Predictive coding for reward shaping.
result Achieves better learning by providing reward signals that understand environment dynamics and emphasize useful features.
Paper provides closed-form time derivatives for rigid body systems.
problem Need for time derivatives of equations of motion in robotics.
method Lie group formulation for rigid body systems to derive closed-form derivatives up to second-order.
result Closed-form equations provide direct insight into system dynamics.
New neural network designs learn contact dynamics efficiently.
problem Learning contact dynamics in robotics from noisy data.
method Physically structured neural networks.
result Data-efficient learning of discontinuous contact events.