Regularized Deep Signed Distance Fields for Reactive Motion Generation

Authors: Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Jan Peters and Georgia Chalvatzaki Abstract Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and real-time collisions with the worldContinue reading “Regularized Deep Signed Distance Fields for Reactive Motion Generation”

Robot Learning of Mobile Manipulation with Reachability Behavior Priors

Authors: Snehal Jauhri, Jan Peters and Georgia Chalvatzaki Our Contributions We propose to use a hybrid action-space Reinforcement Learning algorithm for effectively tackling the need for discrete and continuous action decisions in Mobile Manipulation We learn a reachability behavioral prior for Mobile Manipulation that can speed up the learning process, and incentivize the agent toContinue reading “Robot Learning of Mobile Manipulation with Reachability Behavior Priors”

3 papers accepted to ICRA 2021!

Three papers got accepted in ICRA2021, whose topics will be directly extended in the context of the iROSA project. Accepted papers: Tosatto, S.; Chalvatzaki, G.; Peters, J. (2021). Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).   See Details BibTeX Reference Li, Q.; Chalvatzaki, G.; Peters, J.;Continue reading “3 papers accepted to ICRA 2021!”

Orientation Attentive Robotic Grasp Synthesis with Augmented Grasp Map Representation

Abstract: Inherent morphological characteristics in objects may offer a wide range of plausible grasping orientations that obfuscates the visual learning of robotic grasping. Existing grasp generation approaches are cursed to construct discontinuous grasp maps by aggregating annotations for drastically different orientations per grasping point. Moreover, current methods generate grasp candidates across a single direction inContinue reading “Orientation Attentive Robotic Grasp Synthesis with Augmented Grasp Map Representation”