相关论文: Models of robotic feeding, choice, and the surviva…

The reward system is one of the fundamental drivers of animal behaviors and is critical for survival and reproduction. Despite its importance, the problem of how the reward system has evolved is underexplored. In this paper, we try to…

Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during feeding and to explore ways to adapt their strategies to…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

Data-driven approaches for modelling contact-rich tasks address many of the difficulties that analytical models bear. For real-world scenarios, the hardware capabilities constrain the available measurements and consequently, every step of…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…

We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…

It is often difficult to hand-specify what the correct reward function is for a task, so researchers have instead aimed to learn reward functions from human behavior or feedback. The types of behavior interpreted as evidence of the reward…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Structural causal models describe how the components of a robotic system interact. They provide both structural and functional information about the relationships that are present in the system. The structural information outlines the…

With the recent advances in the field of deep learning, learning-based methods are widely being implemented in various robotic systems that help robots understand their environment and make informed decisions to achieve a wide variety of…

A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…

Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…

Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied…

As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…

Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational…