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Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

We propose a novel explanation method that explains the decisions of a deep neural network by investigating how the intermediate representations at each layer of the deep network were refined during the training process. This way we can a)…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…

In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

I use simulation of two multilayer neural networks to gain intuition into the determinants of human learning. The first network, the teacher, is trained to achieve a high accuracy in handwritten digit recognition. The second network, the…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Deep Learning in Image Registration (DLIR) methods have been tremendously successful in image registration due to their speed and ability to incorporate weak label supervision at training time. However, existing DLIR methods forego many of…

Deep learning-based methods have revolutionized the field of imaging inverse problems, yielding state-of-the-art performance across various imaging domains. The best performing networks incorporate the imaging operator within the network…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

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…

Training deep neural networks is a highly nontrivial task, involving carefully selecting appropriate training algorithms, scheduling step sizes and tuning other hyperparameters. Trying different combinations can be quite labor-intensive and…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…

In the last few years, artistic image-making with deep learning models has gained a considerable amount of traction. A large number of these models operate directly in the pixel space and generate raster images. This is however not how most…