Related papers: Auto-LfD: Towards Closing the Loop for Learning fr…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Learning from Demonstration (LfD) is a useful paradigm for training policies that solve tasks involving complex motions, such as those encountered in robotic manipulation. In practice, the successful application of LfD requires overcoming…

While Reinforcement Learning (RL) has been proven essential for tuning large language models (LLMs), it can lead to reward over-optimization (ROO). Existing approaches address ROO by adding KL regularization, requiring computationally…

Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…

Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…

Specifying tasks for robotic systems traditionally requires coding expertise, deep domain knowledge, and significant time investment. While learning from demonstration offers a promising alternative, existing methods often struggle with…

For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

Imitation learning has been studied widely as a convenient way to transfer human skills to robots. This learning approach is aimed at extracting relevant motion patterns from human demonstrations and subsequently applying these patterns to…

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence,…

Expert demonstrations have proven an easy way to indirectly specify complex tasks. Recent algorithms even support extracting unambiguous formal specifications, e.g. deterministic finite automata (DFA), from demonstrations. Unfortunately,…

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of…

We propose Zeroth-Order Random Matrix Search for Learning from Demonstrations (ZORMS-LfD). ZORMS-LfD enables the costs, constraints, and dynamics of constrained optimal control problems, in both continuous and discrete time, to be learned…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Learning from Demonstration (LfD) has shown to provide robots with fundamental motion skills for a variety of domains. Various branches of LfD research (e.g., learned dynamical systems and movement primitives) can generally be classified…

Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized problem solving with foundational models. Large vision and…

Current large language models (LLMs) are constrained by human-derived training data and limited by a single level of abstraction that impedes definitive truth judgments. This paper introduces a novel framework in which AI models…