相关论文: From virtual demonstration to real-world manipulat…

Learning from demonstration (LfD) provides a fast, intuitive and efficient framework to program robot skills, which has gained growing interest both in research and industrial applications. Most complex manipulation tasks are long-term and…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Developing control policies in simulation is often more practical and safer than directly running experiments in the real world. This applies to policies obtained from planning and optimization, and even more so to policies obtained from…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Learning from demonstration (LfD) provides a convenient means to equip robots with dexterous skills when demonstration can be obtained in robot intrinsic coordinates. However, the problem of compounding errors in long and complex skills…

Virtual reality has proved to be useful in applications in several fields ranging from gaming, medicine, and training to development of interfaces that enable human-robot collaboration. It empowers designers to explore applications outside…

Methods for teaching motion skills to robots focus on training for a single skill at a time. Robots capable of learning from demonstration can considerably benefit from the added ability to learn new movement skills without forgetting what…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…