In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation. In contrast to static learning behaviors that choose a grasp point and then execu…
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48 results for “vision-based manipulation”
We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we randomize many of the physical properties of the system like friction coefficients…
DIGIT is a low-cost tactile sensor for in-hand manipulation.
problem Difficulty in sensing contact forces limits robotic manipulation.
method DIGIT miniaturizes and improves a vision-based tactile sensor.
result DIGIT enables better control of interactions with the environment.
Disentangling Controllable Object through Video Prediction Improves Visual Reinforcement Learningcs.LG
A framework disentangles controllable objects from visual signals for improved RL.
problem Improving sample efficiency and game performance in vision-based RL.
method Action-conditioned video prediction to disentangle controllable objects.
result Improved sample efficiency and game performance in Atari games.
TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensorscs.RO
TACTO simulates high-resolution touch sensing for robotics.
problem Accurate simulation of touch sensing in robotics.
method Fast, flexible, open-source simulator for vision-based tactile sensors.
result Demonstrated TACTO's effectiveness in grasping stability prediction and marble manipulation control.
Diffusion models enhance robotic manipulation through probabilistic multi-modal learning.
problem Enhancing robotic manipulation through robust and multi-modal learning.
method Probabilistic diffusion models integrating imitation and reinforcement learning.
result Diffusion models improve grasp learning, trajectory planning, and data augmentation in robotics.
Paper presents a method for efficient robot adaptation using fine-tuning.
problem Continuous adaptation of robot learning systems in real-world scenarios.
method Fine-tuning previously learned policies using off-policy reinforcement learning.
result Fine-tuning leads to substantial performance gains and adaptation to new conditions.
Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are not adapted to dynamic scene changes. Recent learning methods can operate direct…
Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generationcs.LG
Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects. However, due to the compounding uncertainty in long horizon video prediction and poor s…
Robotic clothing manipulation improved with fashion image analysis techniques.
problem Automated identification of clothing categories and landmarks for robotic tasks.
method Training data augmentation methods and rotation invariant convolutions.
result Our approach outperforms state-of-the-art models on unseen datasets.
This work tackles real-world robotic reinforcement learning challenges.
problem Limited success of reinforcement learning in real-world robotics.
method Proposes a system for autonomous real-world learning without instrumentation.
result Demonstrates a complete system that learns without human intervention.
NewtonianVAE: Proportional Control and Goal Identification from Pixels via Physical Latent Spacescs.LG
Framework simplifies vision-based control and goal discovery.
problem Learning proportional control from visual data.
method Introduces NewtonianVAE for proportional control and goal discovery.
result Dramatic simplification and acceleration of vision-based controllers.
Improves sample efficiency and generalization in vision-based RL by enhancing exploration.
problem Low sample efficiency in vision-based RL using images as observations.
method Integrates state representation learning to enhance exploration and sample diversity.
result Significant improvement in sample efficiency across various environments.
In this paper we explore the richness of information captured by the latent space of a vision-based generative model. The model combines unsupervised generative learning with a task-based performance predictor to learn and to exploit task-relevant object affordances given visual observations from a reaching task, invol…
Visual object detection is a computer vision-based artificial intelligence (AI) technique which has many practical applications (e.g., fire hazard monitoring). However, due to privacy concerns and the high cost of transmitting video data, it is highly challenging to build object detection models on centrally stored lar…
Modern vision-based reinforcement learning techniques often use convolutional neural networks (CNN) as universal function approximators to choose which action to take for a given visual input. Until recently, CNNs have been treated like black-box functions, but this mindset is especially dangerous when used for control…
For a robot to perform complex manipulation tasks, it is necessary for it to have a good grasping ability. However, vision based robotic grasp detection is hindered by the unavailability of sufficient labelled data. Furthermore, the application of semi-supervised learning techniques to grasp detection is under-explored…
V-SysId identifies keypoints and 3D system from unlabeled videos.
problem Identifying keypoints and 3D system from unlabeled videos.
method Alternates between parameter estimation and extrinsic camera calibration, using motion equations as weak supervision.
result Utility of the approach demonstrated across various settings.
The distributional perspective on reinforcement learning (RL) has given rise to a series of successful Q-learning algorithms, resulting in state-of-the-art performance in arcade game environments. However, it has not yet been analyzed how these findings from a discrete setting translate to complex practical application…
Recent advances in machine learning, especially techniques such as deep neural networks, are enabling a range of emerging applications. One such example is autonomous driving, which often relies on deep learning for perception. However, deep learning-based perception has been shown to be vulnerable to a host of subtle …
Weakly-supervised RL identifies meaningful tasks, improving performance in complex environments.
problem Learning to efficiently explore and distinguish between meaningful and irrelevant tasks.
method Weak supervision to automatically disentangle meaningful tasks from a large space of nonsensical tasks.
result The learned subspace of meaningful tasks leads to substantial performance gains, especially in complex environments.
We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates a real-world scenario in that (a) the requester may not know how to navigate to …
Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards enabling agents to learn a new task from one or a few demonstrations by leveraging e…
AI learns market manipulation through simulation, suggesting regulation.
problem Regulating AI to prevent market manipulation.
method Used a genetic algorithm in an artificial market simulation.
result AI discovered market manipulation as an optimal strategy.
The paper analyzes how leverage affects manipulation in event-linked markets, offering new insights into regulation.
problem Manipulation and insider information in leveraged event-linked markets.
method Develops a two-axis manipulation taxonomy and analyzes leverage's effects on market-price and outcome manipulation.
result Leverage scales market-price manipulation linearly but shifts the cost-benefit threshold for outcome manipulation.
New model improves neural network robustness against input manipulations.
problem Improving neural network robustness against input manipulations.
method Causal view and deep causal manipulation augmented model (deep CAMA) with data augmentation and test-time fine-tuning.
result Deep CAMA shows superior robustness against unseen manipulations compared to traditional models.
In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of algorithms makes it difficult to discern which particular approach would be best …
This paper studies poisoning attacks in episodic RL and discovers their effectiveness depends on reward bounds.
problem Understanding security threats to RL algorithms through poisoning attacks.
method Examined two types of poisoning attacks: reward and action manipulation, in bounded and unbounded reward settings.
result The effectiveness of poisoning attacks depends on reward bounds, with different attack costs and success rates.
Manipulating video content is easier than ever. Due to the misuse potential of manipulated content, multiple detection techniques that analyze the pixel data from the videos have been proposed. However, clever manipulators should also carefully forge the metadata and auxiliary header information, which is harder to do …
We present a method for fast training of vision based control policies on real robots. The key idea behind our method is to perform multi-task Reinforcement Learning with auxiliary tasks that differ not only in the reward to be optimized but also in the state-space in which they operate. In particular, we allow auxilia…
In this work we propose a model that can manipulate individual visual attributes of objects in a real scene using examples of how respective attribute manipulations affect the output of a simulation. As an example, we train our model to manipulate the expression of a human face using nonphotorealistic 3D renders of a f…
Prediction markets can be manipulated by traders who can move contract settlements, harming price discovery.
problem Manipulation of settlement times in prediction markets leads to unfair wealth transfer and harms price discovery.
method Developed a model showing how settlement manipulation transfers wealth and harms price discovery, and observed real-world effects on Polymarket's Bitcoin contract.
result Manipulators capture significant profits from retail traders, especially when settlement times are short.
Volunteer labor can temporarily yield lower benefits to charities than its costs. In such instances, organizations may wish to defer volunteer donations to a later date. Exploiting a discontinuity in blood donations' eligibility criteria, we show that deferring donors reduces their future volunteerism. In our setting, …
Manipulating data, such as weighting data examples or augmenting with new instances, has been increasingly used to improve model training. Previous work has studied various rule- or learning-based approaches designed for specific types of data manipulation. In this work, we propose a new method that supports learning d…
Paper presents a new port-Hamiltonian model for vehicle manipulators.
problem Complex mechanical systems' energy flow and conservation.
method Derives port-Hamiltonian dynamics from Hamiltonian reduction theory.
result Establishes mathematical equivalence with existing formulations.
Optimal benchmark design varies based on costs in financial manipulation.
problem Manipulation of price benchmarks in finance.
method Analyzes empirical pattern and cost structures to determine optimal benchmark design.
result The optimal benchmark depends on the relative sizes of fixed and variable costs.
Study examines reasons for Nutek India's share price drop.
problem Deep fall in Nutek India Limited's share price.
method Analyzed transactions and market forces to identify manipulation.
result Identified intentional interference in supply and demand.
New method uses statistical physics to detect financial market manipulation.
problem Detecting financial market manipulation activities like spoofing and layering.
method Modeling order book dynamics as particle motion and using momentum measure.
result Method outperforms conventional Z-score-based anomaly detection.
Learning Unfair Trading: a Market Manipulation Analysis From the Reinforcement Learning Perspectiveq-fin.TR
Market manipulation is a strategy used by traders to alter the price of financial securities. One type of manipulation is based on the process of buying or selling assets by using several trading strategies, among them spoofing is a popular strategy and is considered illegal by market regulators. Some promising tools h…
New foundation for Shapley value immune to coalitional manipulations.
problem Coalitional manipulations in game theory.
method Revised Shapley value criteria for coalitional games.
result Shapley value is immune to coalitional manipulations under new criteria.
In recent years, the use of bio-sensing signals such as electroencephalogram (EEG), electrocardiogram (ECG), etc. have garnered interest towards applications in affective computing. The parallel trend of deep-learning has led to a huge leap in performance towards solving various vision-based research problems such as o…
Framework detects covert financial market manipulation using LOB representations.
problem Detecting covert financial market manipulation (spoofing) from complex anomaly patterns in multilevel prices.
method Cascaded contrastive representation learning of LOB data.
result Transformer-based architectures achieve state-of-the-art results in detection performance.
Study reveals widespread manipulation of meme coins, leading to significant economic losses.
problem Widespread manipulation of meme coins leading to economic losses.
method Cross-chain analysis of 34,988 tokens across Ethereum, BNB Smart Chain, Solana, and Base.
result 82.8% of high-return tokens show evidence of artificial growth strategies.
This paper focuses on an extension of the Limit Order Book (LOB) model with general shape introduced by Alfonsi, Fruth and Schied. Here, the additional feature allows a time-varying LOB depth. We solve the optimal execution problem in this framework for both discrete and continuous time strategies. This gives in partic…
A new method for robot manipulation tasks using imagined object goals.
problem Learning robot manipulation in sparse reward environments.
method Train objects to reach target positions, then use predictions to create a curriculum of tasks.
result Higher success rates in challenging learning scenarios compared to alternatives.
Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robotscs.LG
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
problem Challenges in working with real robotic hardware, especially position-controlled robots.
method Combines RL with traditional force control techniques, implementing parallel position/force control and admittance control.
result Validated methods on both simulation and real robot (UR3 e-series) for force control.
Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a tradi…
Study on costs of manipulating AMM-based price oracles.
problem Cost of manipulation in AMM-based on-chain price oracles.
method Analyzes the robustness of AMM-based oracles to strategic manipulation, considering different aggregation methods and market conditions.
result Manipulation costs depend on the total quote depth and can be minimized by optimal liquidity weights.