Related papers: Behavioral Cloning for Robotic Connector Assembly:…
Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
Developing proficient brush manipulation capabilities in real-world scenarios is a complex and challenging endeavor, with wide-ranging applications in fields such as art, robotics, and digital design. In this study, we introduce an approach…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
In this paper, we propose a framework, collective behavioral cloning (CBC), to learn the underlying interaction mechanism and control policy of a swarm system. Given the trajectory data of a swarm system, we propose a graph variational…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and…
Successful entrainment during collaboration positively affects trust, willingness to collaborate, and likeability towards collaborators. In this paper, we present a mixed-method study to investigate characteristics of successful entrainment…
The 5.0 industry promotes collaborative robots (cobots). This research studies the impacts of cobot collaboration using an experimental setup. 120 participants realized a simple and a complex assembly task. 50% collaborated with another…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…
Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…
This paper presents an attempt to replicate the robot imitation work conducted by Sermanet et al., with a specific focus on the experiments involving robot joint position prediction. While the original study utilized human poses to predict…
Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…