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Toward robotic manipulation
This article surveys manipulation, including both biological and robotic manipulation.
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …
Let's push things forward: A survey on robot pushing
As robots make their way out of factories into human environments, outer space, and
beyond, they require the skill to manipulate their environment in multifarious, unforeseeable …
beyond, they require the skill to manipulate their environment in multifarious, unforeseeable …
Sim-to-real transfer of robotic control with dynamics randomization
Simulations are attractive environments for training agents as they provide an abundant
source of data and alleviate certain safety concerns during the training process. But the …
source of data and alleviate certain safety concerns during the training process. But the …
Visual room rearrangement
There has been a significant recent progress in the field of Embodied AI with researchers
develo** models and algorithms enabling embodied agents to navigate and interact …
develo** models and algorithms enabling embodied agents to navigate and interact …
Asymmetric actor critic for image-based robot learning
L Pinto, M Andrychowicz, P Welinder… - ar** for target-driven object manipulation in clutter
Gras** in cluttered environments is a fundamental but challenging robotic skill. It requires
both reasoning about unseen object parts and potential collisions with the manipulator. Most …
both reasoning about unseen object parts and potential collisions with the manipulator. Most …
Nerf in the palm of your hand: Corrective augmentation for robotics via novel-view synthesis
Expert demonstrations are a rich source of supervision for training visual robotic
manipulation policies, but imitation learning methods often require either a large number of …
manipulation policies, but imitation learning methods often require either a large number of …
Chomp: Covariant hamiltonian optimization for motion planning
In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …
Combined task and motion planning through an extensible planner-independent interface layer
The need for combined task and motion planning in robotics is well understood. Solutions to
this problem have typically relied on special purpose, integrated implementations of task …
this problem have typically relied on special purpose, integrated implementations of task …
Learning task-oriented gras** for tool manipulation from simulated self-supervision
Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires
reasoning about the desired effect of the task and, thus, properly gras** and manipulating …
reasoning about the desired effect of the task and, thus, properly gras** and manipulating …