Related papers: Learning body models: from humans to humanoids
Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven…
The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…
With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Embodiment and subjective experience in human-robot interaction are important aspects to consider when studying both natural cognition and adaptive robotics to human environments. Although several researches have focused on nonverbal…
Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Evolving morphologies and controllers of robots simultaneously leads to a problem: Even if the parents have well-matching bodies and brains, the stochastic recombination can break this match and cause a body-brain mismatch in their…
Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based…
Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…
Behaviour selection has been an active research topic for robotics, in particular in the field of human-robot interaction. For a robot to interact effectively and autonomously with humans, the coupling between techniques for human activity…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
Recently, the concept of embodied intelligence has been widely accepted and popularized, leading people to naturally consider the potential for commercialization in this field. In this work, we propose a specific commercial scenario…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the…
Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…
Animal welfare education could greatly benefit from customized robots to help children learn about animals and their behavior, and thereby promote positive, safe child-animal interactions. To this end, we ran Participatory Design workshops…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…