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To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. To achieve this it is often infeasible to train monolithic neural network policies across such large variations in object properties. Towards this generalization challenge, we propose to learn modular task policies which compose object-centric task-axes controllers. These task-axes controllers are parameterized by properties associated with underlying objects in the scene. We infer these controller parameters directly from visual input using multi- view dense correspondence learning. Our overall approach provides a simple and yet powerful framework formore »
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Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining con- tact with a table. Individual subtasks can be achieved by task-axis controllers defined relative to the objects being manipulated, and a set of object-centric controllers can be combined in an hierarchy. In prior works, such combinations are defined manually or learned from demonstrations. By contrast, we propose using reinforcement learning to dynamically compose hierarchical object-centric controllers for manipulation tasks. Experiments in both simulation and real world show how the proposed approach leads to improved sample efficiency, zero-shotmore »
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Free, publicly-accessible full text available August 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available August 1, 2022
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Abstract The coherent photoproduction of $$\mathrm{J}/\psi $$ J / ψ and $${\uppsi '}$$ ψ ′ mesons was measured in ultra-peripheral Pb–Pb collisions at a center-of-mass energy $$\sqrt{s_{\mathrm {NN}}}~=~5.02$$ s NN = 5.02 TeV with the ALICE detector. Charmonia are detected in the central rapidity region for events where the hadronic interactions are strongly suppressed. The $$\mathrm{J}/\psi $$ J / ψ is reconstructed using the dilepton ( $$l^{+} l^{-}$$ l + l - ) and proton–antiproton decay channels, while for the $${\uppsi '}$$ ψ ′ the dilepton and the $$l^{+} l^{-} \pi ^{+} \pi ^{-}$$ l + l - πmore »Free, publicly-accessible full text available August 1, 2022