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12/14/2022
An Architecture for Reactive Mobile Manipulation On-The-Move
We present a generalised architecture for reactive mobile manipulation w...
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07/06/2022
Deep Learning Approaches to Grasp Synthesis: A Review
Grasping is the process of picking an object by applying forces and torq...
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06/12/2022
Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction
We investigate how high-resolution tactile sensors can be utilized in co...
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04/29/2022
Eyes on the Prize: Improved Perception for Robust Dynamic Grasping
This paper is concerned with perception challenges for robust grasping i...
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09/10/2021
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad)
We propose a novel iterative approach for crossing the reality gap that ...
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03/06/2021
Passing Through Narrow Gaps with Deep Reinforcement Learning
The DARPA subterranean challenge requires teams of robots to traverse di...
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01/23/2021
Learning Setup Policies: Reliable Transition Between Locomotion Behaviours
Dynamic platforms that operate over manyunique terrain conditions typica...
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11/01/2020
Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts
Legged robots often use separate control policies that are highly engine...
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10/07/2020
Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
Manipulating deformable objects, such as fabric, is a long standing prob...
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03/03/2020
Traversing the Reality Gap via Simulator Tuning
The large demand for simulated data has made the reality gap a problem o...
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03/03/2020
EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation
We present the Evolved Grasping Analysis Dataset (EGAD), comprising over...
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11/20/2019
Evaluating task-agnostic exploration for fixed-batch learning of arbitrary future tasks
Deep reinforcement learning has been shown to solve challenging tasks wh...
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11/05/2019
Benchmarking Simulated Robotic Manipulation through a Real World Dataset
We present a benchmark to facilitate simulated manipulation; an attempt ...
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11/01/2019
A Perceived Environment Design using a Multi-Modal Variational Autoencoder for learning Active-Sensing
This contribution comprises the interplay between a multi-modal variatio...
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10/09/2019
Ctrl-Z: Recovering from Instability in Reinforcement Learning
When learning behavior, training data is often generated by the learner ...
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11/05/2018
Quantifying the Reality Gap in Robotic Manipulation Tasks
We quantify the accuracy of various simulators compared to a real world ...
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09/23/2018
Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter
Camera viewpoint selection is an important aspect of visual grasp detect...
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09/20/2018
Zero-shot Sim-to-Real Transfer with Modular Priors
Current end-to-end Reinforcement Learning (RL) approaches are severely l...
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09/12/2018
Coordinated Heterogeneous Distributed Perception based on Latent Space Representation
We investigate a reinforcement approach for distributed sensing based on...
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04/18/2018
The Limits and Potentials of Deep Learning for Robotics
The application of deep learning in robotics leads to very specific prob...
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04/14/2018
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
This paper presents a real-time, object-independent grasp synthesis meth...
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09/18/2017
Sim-to-real Transfer of Visuo-motor Policies for Reaching in Clutter: Domain Randomization and Adaptation with Modular Networks
A modular method is proposed to learn and transfer visuo-motor policies ...
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05/24/2017
Visual Servoing from Deep Neural Networks
We present a deep neural network-based method to perform high-precision,...
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05/15/2017
Tuning Modular Networks with Weighted Losses for Hand-Eye Coordination
This paper introduces an end-to-end fine-tuning method to improve hand-e...
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10/21/2016
Modular Deep Q Networks for Sim-to-real Transfer of Visuo-motor Policies
While deep learning has had significant successes in computer vision tha...
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09/17/2016
The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research
Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA ...
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06/14/2016
Richardson-Lucy Deblurring for Moving Light Field Cameras
We generalize Richardson-Lucy (RL) deblurring to 4-D light fields by rep...
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11/12/2015