相关论文: Learning Prioritized Control of Motor Primitives

Humans can easily reason about the sequence of high level actions needed to complete tasks, but it is particularly difficult to instil this ability in robots trained from relatively few examples. This work considers the task of neural…

Realistic manipulation tasks require a robot to interact with an environment with a prolonged sequence of motor actions. While deep reinforcement learning methods have recently emerged as a promising paradigm for automating manipulation…

We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…

LLM-enabled robots prioritizing scarce assistance in social settings face pluralistic values and LLM behavioral variability: reasonable people can disagree about who is helped first, while LLM-mediated interaction policies vary across…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…

Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising…

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…

During the past few years, probabilistic approaches to imitation learning have earned a relevant place in the literature. One of their most prominent features, in addition to extracting a mean trajectory from task demonstrations, is that…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in industrial manufacturing. The proposed method is easily…

In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

In this paper we propose a general framework to integrate supervised and unsupervised examples with background knowledge expressed by a collection of first-order logic clauses into kernel machines. In particular, we consider a multi-task…

Approaches to keeping a dynamical system within state constraints typically rely on a model-based safety condition to limit the control signals. In the face of significant modeling uncertainty, the system can suffer from important…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…