Related papers: See, Learn, Assist: Safe and Self-Paced Robotic Re…
Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…
This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via bilateral teleoperation, enabling a therapist to remotely…
Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids requires overcoming significant morphological mismatches.…
Humans can learn to manipulate new objects by simply watching others; providing robots with the ability to learn from such demonstrations would enable a natural interface specifying new behaviors. This work develops Robot See Robot Do…
In this paper, we present an intelligent Assistant for Robotic Therapy (iART), that provides robotic assistance during 3D trajectory tracking tasks. We propose a novel LSTM-based robot learning from demonstration (LfD) paradigm to mimic a…
This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…
Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Analyzing human motion is an active research area, with various applications. In this work, we focus on human motion analysis in the context of physical rehabilitation using a robot coach system. Computer-aided assessment of physical…
Robots applied in therapeutic scenarios, for instance in the therapy of individuals with Autism Spectrum Disorder, are sometimes used for imitation learning activities in which a person needs to repeat motions by the robot. To simplify the…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable…
This work presents DemoBot, a learning framework that enables a dual-arm, multi-finger robotic system to acquire complex manipulation skills from a single unannotated RGB-D video demonstration. The method extracts structured motion…
As the number of the robot's degrees of freedom increases, the implementation of robot motion becomes more complex and difficult. In this study, we focus on learning 6DOF-grasping motion and consider dividing the grasping motion into…
The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations (LfD) approaches…
This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…
Computer-aided assessment of physical rehabilitation entails evaluation of patient performance in completing prescribed rehabilitation exercises, based on processing movement data captured with a sensory system. Despite the essential role…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
Assistive robotics and particularly robot coaches may be very helpful for rehabilitation healthcare. In this context, we propose a method based on Gaussian Process Latent Variable Model (GP-LVM) to transfer knowledge between a…