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OOD-CV: A Benchmark for Robustness to Out-of-Distribution Shifts of Individual Nuisances in Natural Images
One reason is that existing robustness benchmarks are limited, as they either rely on synthetic data or ignore the effects of individual nuisance factors.
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape.
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Our method combines the strength of CBF for real-time collision-avoidance control and RRT for long-horizon motion planning, by using CBF-induced neural controller (CBF-INC) to generate control signals that steer the system towards sampled configurations by RRT.
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