Reinforcement Learning with Prior Policy Guidance for Motion Planning of Dual-Arm Free-Floating Space Robot
Beijing Institute of Control Engineering（北京控制工程研究所）；City University of Hong Kong（香港城市大学）；Qian Xuesen Laboratory of Space Technology（钱学森空间技术实验室）；Tsinghua University（清华大学）
Yuxue Cao, Shengjie Wang, Xiang Zheng, Wenke Ma, Xinru Xie, Lei Liu
Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics coupling, the motion planning of dual-arm free-floating space robots remains an open challenge. In particular, the current study cannot handle the task of capturing a non-cooperative object due to the lack of the pose constraint of the end-effectors. To address the problem, we propose a novel algorithm, EfficientLPT, to facilitate RL-based methods to improve planning accuracy efficiently. Our core contributions are constructing a mixed policy with prior knowledge guidance and introducing infinite norm to build a more reasonable reward function. Furthermore, our method successfully captures a rotating object with different spinning speeds.
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology（计算机科学与人工智能实验室（CSAIL），麻省理工学院）；Robotics and AI Institute（机器人与人工智能研究院）
A Human Motion Compensation Framework for a Supernumerary Robotic Arm
Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人与智能制造创新研究院）；Istituto Italiano di Tecnologia（意大利理工学院）
School of Interactive Computing, Georgia Institute of Technology（佐治亚理工学院交互计算学院）；Healthcare Robotics Lab, Georgia Institute of Technology（佐治亚理工学院医疗机器人实验室）；Google Brain, Google（谷歌 Google Brain）
Safe Obstacle-Free Guidance of Space Manipulators in Debris Removal Missions via Deep Reinforcement Learning
Embodied Learning and Intelligence for eXploration and Innovative soft Robotics (ELIXIR) Lab, Toronto Metropolitan University, Toronto, ON, Canada（体现学习与智能探索与创新软机器人（ELIXIR）实验室，多伦多 Metropolitan 大学，多伦多，ON，加拿大）
KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
Department of Civil and Environmental Engineering, University of Michigan, United States of America（密歇根大学土木与环境工程系）；Department of Robotics, University of Michigan, United States of America（密歇根大学机器人系）
Therapist-Robot-Patient Physical Interaction is Worth a Thousand Words: Enabling Intuitive Therapist Guidance via Remote Haptic Control
Department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学）；Department of Rehabilitation Medicine, Erasmus Medical Center（康复医学系，埃拉斯姆斯医疗中心）
WasserMan: Benchmark for Underwater Manipulation Policy Learning
Central University（中央大学）；Center for Engineering Systems and Sciences（工程系统与科学中心）；Sirius University of Science and Technology（天狼星科技大学）；V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences（俄罗斯科学院特拉佩兹尼科夫控制科学研究所）
Learning Smooth and Robust Space Robotic Manipulation of Dynamic Target via Inter-frame Correlation
Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University（西北工业大学航天学院智能机器人研究中心）；School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；School of Aeronautics and Astronautics, Sichuan University（四川大学空天科学与工程学院）
EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
Department of Automation, Tsinghua University（清华大学自动化系）；Beijing Key Laboratory of Embodied Intelligence Systems（北京具身智能系统重点实验室）；Institute for Embodied Intelligence and Robotics, Tsinghua University（清华大学具身智能与机器人研究所）
A Quantitative Comparison of Centralised and Distributed Reinforcement Learning-Based Control for Soft Robotic Arms
Department of Electrical and Computer Engineering, National University of Singapore（电子与计算机工程系，新加坡国立大学）；Department of Computer Science, National University of Singapore（计算机科学系，新加坡国立大学）；Department of Mechanical Engineering, National University of Singapore（机械工程系，新加坡国立大学）
