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The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…

The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…

Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…

Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In this paper, we propose a novel…

A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph. While this approach has shown great performance and…

The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

The accurate modeling of real-world systems and physical interactions is a common challenge towards the resolution of robotics tasks. Machine learning approaches have demonstrated significant results in the modeling of complex systems…

This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…

Learning the dynamics of a physical system wherein an autonomous agent operates is an important task. Often these systems present apparent geometric structures. For instance, the trajectories of a robotic manipulator can be broken down into…

The automatic and efficient discovery of skills, without supervision, for long-living autonomous agents, remains a challenge of Artificial Intelligence. Intrinsically Motivated Goal Exploration Processes give learning agents a…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…

We treat the problem of autonomous acquisition of manipulation skills where problem-solving strategies are initially available only for a narrow range of situations. We propose to extend the range of solvable situations by autonomous…

Atom-by-atom assembly of functional materials and devices is perceived as one of the ultimate targets of nanoscience and nanotechnology. While traditionally implemented via scanning probe microscopy techniques, recently it has been shown…

When autonomous agents interact in the same environment, they must often cooperate to achieve their goals. One way for agents to cooperate effectively is to form a team, make a binding agreement on a joint plan, and execute it. However,…

In manufacturing, assembly tasks have been a challenge for learning algorithms due to variant dynamics of different environments. Reinforcement learning (RL) is a promising framework to automatically learn these tasks, yet it is still not…

We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstacles, expanding the set of tasks it can perform. This…

Reinforcement learning provides a powerful and flexible framework for automated acquisition of robotic motion skills. However, applying reinforcement learning requires a sufficiently detailed representation of the state, including the…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…