3 accepted papers
This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool use from internet data sources has typically been challenging due to the lack of physical information such as contact exis
Tasks where the set of possible actions depend discontinuously on the state pose a significant challenge for current reinforcement learning algorithms. For example, a locked door must be first unlocked, and then the handle turned before the door can be opened. The sequential nature of these tasks ma…
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a large portion of the computational time in robot motion plannin