Diminishing Return of Value Expansion Methods

Authors: Daniel Palenicek, Michael Lutter, João Carvalho, Daniel Dennert, Faran Ahmad, and Jan Peters Fellow

pre-print -> https://arxiv.org/abs/2412.20537

#rl #reinforcement_learning #modelbased_rl #value_expension

Neo-FREE: Policy Composition Through Thousand Brains And Free Energy Optimization

Authors: Francesca Rossi, Émiland Garrabé, Giovanni Russo

pre-print -> https://arxiv.org/abs/2412.06636

code -> https://github.com/GIOVRUSSO/Control-Group-Code/tree/master/Neo-FREE

#robotics #control #optimal_control #movement_primitives

Novel Magnetic Actuation Strategies for Precise Ferrofluid Marble Manipulation in Magnetic Digital Microfluidics: Position Control and Applications

Authors: Mohammad Hossein Sarkhosh, Mohammad Hassan Dabirzadeh, Mohamad Ali Bijarchi, Hossein Nejat Pishkenari

pre-print -> https://arxiv.org/abs/2412.02859

#robotics #control #manipulation #microfluidics

Point-GN: A Non-Parametric Network Using Gaussian Positional Encoding for Point Cloud Classification

Authors: Marzieh Mohammadi, Amir Salarpour

pre-print -> https://arxiv.org/abs/2412.03056
code (to come) -> https://github.com/asalarpour/Point_GN

#point_cloud #classification #positional_embedding #non_parametric

From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators

Authors: Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën, Wilm Decré, Joris De Schutter

pre-print -> https://arxiv.org/abs/2412.01597v1

#robotics #motion_control #mpc

Show HN: Copper – Open-source robotics in Rust with deterministic log replay

https://github.com/copper-project/copper-rs/wiki/Copper-Release-Log

Discussions: https://discu.eu/q/https://github.com/copper-project/copper-rs/wiki/Copper-Release-Log

#programming #robotics #rustlang

"Unlike vision and language, data for learning is not available passively[...]. This makes applying the same recipes we did in vision and language challenging"

#real2sim is a strong emergent tendency in robotics this year.

See previously shared articles:
RoboGSim -> https://arxiv.org/abs/2411.11839
RL-GSBridge -> https://arxiv.org/abs/2409.20291
GARField -> https://arxiv.org/abs/2410.05038

Robot Learning with Super-Linear Scaling

Authors: Marcel Torne, Arhan Jain, Jiayi Yuan, Vidaaranya Macha, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta

pre-print -> https://arxiv.org/abs/2412.01770v1
website -> https://casher-robot-learning.github.io/CASHER/

#robotics #rl #reinforcement_learning #data_generation #real2sim2real

New synthetic dataset just dropped for the folks in articulated objects manipulation !

▶️ 918 object instances
▶️ 240k photo-realistic rendering images
▶️ 8 billion scene-level actionable interaction poses

⚠️ Data not released yet

GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation

Authors: Wenbo Cui, Chengyang Zhao, Songlin Wei, Jiazhao Zhang, Haoran Geng, Yaran Chen, He Wang

pre-print -> https://arxiv.org/abs/2411.18276

#robotics #articulated_objects #manipulation #dataset #synthetic_data #data_generation

MotionWavelet: Human Motion Prediction via Wavelet Manifold Learning

Authors: Yuming Feng, Zhiyang Dou, Ling-Hao Chen, Yuan Liu, Tianyu Li, Jingbo Wang, Zeyu Cao, Wenping Wang, Taku Komura, Lingjie Liu

pre-print -> https://arxiv.org/abs/2411.16964
website -> https://frank-zy-dou.github.io/projects/MotionWavelet/

#motion_prediction #wavelets #diffusion

RL policies often get criticized for being "database" policies i.e. not reactive like MPC. This paper goes one step closer to rollout time by addressing the steering of a frozen policy generator at inference time to align with user intent

Inference-Time Policy Steering through Human Interactions

Authors: Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Perez-D'Arpino, Dieter Fox, Julie Shah

pre-print -> https://arxiv.org/abs/2411.16627

website -> https://yanweiw.github.io/itps/

#robotics #diffusion #policy_steering

Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation

Authors: Huy Le, Miroslav Gabriel, Tai Hoang, Gerhard Neumann, Ngo Anh Vien

pre-print -> https://arxiv.org/abs/2411.14913
website -> leh2rng.github.io/hydo

#robotics #rl #reinforcement_learning #nonprehensile #manipulation #diffusion #entropy

Evaluating Text-to-Image Diffusion Models for Texturing Synthetic Data

Authors: Thomas Lips, Francis wyffels

pre-print -> https://arxiv.org/abs/2411.10164

code -> https://github.com/tlpss/diffusing-synthetic-data

#robotics #diffusion #sim2real #data_generation

Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds

Authors: Jelena Trisovic, Alexandre Didier, Simon Muntwiler and Melanie N. Zeilinger

pre-print -> https://arxiv.org/abs/2411.13310

#robotics #slam #moving_horizon #mhe

ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing

Authors: Chuanyu Li, Renjun Dang, Xiang Li, Zhiyuan Wu, Jing Xu, Hamidreza Kasaei, Roberto Calandra, Nathan
Lepora, Shan Luo, Hao Su, Rui Chen

pre-print -> https://arxiv.org/abs/2411.12503v1

#robotics #challenge #tactile_sensing #visual_sensing #manipulation #contact_rich

RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator

Authors: Xinhai Li, Jialin Li, Ziheng Zhang, Rui Zhang, Fan Jia, Tiancai Wang, Haoqiang Fan, Kuo-Kun Tseng, Ruiping Wang

pre-print -> https://arxiv.org/abs/2411.11839

website -> https://robogsim.github.io

#robotics #manipulation #data_generation #sim2real #real2sim #real2sim2real

Researchers developed a tool that enables #robots to replicate the efficient, rhythmic movements found in nature. This advancement utilizes #IntrinsicDynamics to optimize robotic motion: http://go.tum.de/798175 🤖

#Robotics #AI #Innovation

📷A.Heddergott

BMP: Bridging the Gap between B-Spline and Movement Primitives

Authors: Weiran Liao, Ge Li, Hongyi Zhou, Rudolf Lioutikov, Gerhard Neumann, @KIT_Karlsruhe

pre-print -> https://arxiv.org/abs/2411.10336

#robotics #movement_primitives #mp #bsplines #planning #robot_learning