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Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

We propose a method for learning dynamical systems from high-dimensional empirical data that combines variational autoencoders and (spatio-)temporal attention within a framework designed to enforce certain scientifically-motivated…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

Classical methods for model order selection often fail in scenarios with low SNR or few snapshots. Deep learning-based methods are promising alternatives for such challenging situations as they compensate lack of information in the…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

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…

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Increasingly many real world tasks involve data in multiple modalities or views. This has motivated the development of many effective algorithms for learning a common latent space to relate multiple domains. However, most existing…

The problem of generalization in learning from demonstration (LfD) has received considerable attention over the years, particularly within the context of movement primitives, where a number of approaches have emerged. Recently, two…

Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context, Dynamic Motion Primitives offer built - in stability and…

Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manipulation skills from human demonstration. However, the…

This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches…

This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Forecasting short-term motion of nearby vehicles presents an inherently challenging issue as the space of their possible future movements is not strictly limited to a set of single trajectories. Recently proposed techniques that demonstrate…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…