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Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of…

In recent years, Multifactorial Optimization (MFO) has gained a notable momentum in the research community. MFO is known for its inherent capability to efficiently address multiple optimization tasks at the same time, while transferring…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics using traditional robotic tools that extend state-of-the-art DRL implementations and provide an end-to-end approach which trains a robot directly from…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

We introduce a reinforcement learning (RL) based adaptive optimization algorithm for aerodynamic shape optimization focused on dimensionality reduction. The form in which RL is applied here is that of a surrogate-based, actor-critic policy…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Real-time robotic control demands fast action generation. However, existing generative policies based on diffusion and flow matching require multi-step sampling, fundamentally limiting deployment in time-critical scenarios. We propose…

In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined targets. However, the conventional convergence-centric…

Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…

Real-world robotic manipulation in homes and factories demands reliability, efficiency, and robustness that approach or surpass those of skilled human operators. We present RL-100, a real-world reinforcement learning framework built on…

Marine debris detection for ocean robot is crucial for ecological protection, yet performance is often degraded by low-quality images with blur, complex backgrounds, and small targets. To address these challenges, we propose YOLO-MD, an…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Decentralized federated learning (DFL), a serverless variant of federated learning, poses unique challenges for parameter-efficient fine-tuning due to the factorized structure of low-rank adaptation (LoRA). Unlike linear parameters,…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

Deep learning-based fault diagnosis (FD) approaches require a large amount of training data, which are difficult to obtain since they are located across different entities. Federated learning (FL) enables multiple clients to collaboratively…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…