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Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

Accurate estimation of Remaining Useful Life (RUL) and State of Health (SOH) is essential for Prognostics and Health Management (PHM) across a wide range of industrial applications. We propose a novel framework -- Reinforced Graph-Based…

As children grow older, they develop an intuitive understanding of the physical processes around them. Their physical understanding develops in stages, moving along developmental trajectories which have been mapped out extensively in…

Controlling a high degrees of freedom humanoid robot is acknowledged as one of the hardest problems in Robotics. Due to the lack of mathematical models, an approach frequently employed is to rely on human intuition to design keyframe…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

Current neural network models of primate vision focus on replicating overall levels of behavioral accuracy, often neglecting perceptual decisions' rich, dynamic nature. Here, we introduce a novel computational framework to model the…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…

Recently, there has been a growing interest in predicting human motion, which involves forecasting future body poses based on observed pose sequences. This task is complex due to modeling spatial and temporal relationships. The most…

Sensor-based human activity recognition (HAR), i.e., the ability to discover human daily activity patterns from wearable or embedded sensors, is a key enabler for many real-world applications in smart homes, personal healthcare, and urban…

With the advances in capturing 2D or 3D skeleton data, skeleton-based action recognition has received an increasing interest over the last years. As skeleton data is commonly represented by graphs, graph convolutional networks have been…

We present a general framework to autonomously achieve a task, where autonomy is acquired by learning sensorimotor patterns of a robot, while it is interacting with its environment. To accomplish the task, using the learned sensorimotor…

The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle's limitation, a false-positive grasp occurs, resulting in the failure…

An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available…

Unhealthy behaviors, e.g., physical inactivity and unhealthful food choice, are the primary healthcare cost drivers in developed countries. Pervasive computational, sensing, and communication technology provided by smartphones and…

Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…

In motor neuroscience, artificial recurrent neural networks models often complement animal studies. However, most modeling efforts are limited to data-fitting, and the few that examine virtual embodied agents in a reinforcement learning…

Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…

We propose a recurrent neural network architecture with a Forward Kinematics layer and cycle consistency based adversarial training objective for unsupervised motion retargetting. Our network captures the high-level properties of an input…