相关论文: A Vision-Guided Multi-Robot Cooperation Framework …

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Recent advances in video diffusion models shows promise for generating robotic decision-making data, with trajectory conditions further enabling fine-grained control. However, existing methods primarily focus on individual object motion and…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

We have been developing a paradigm, which we refer to as Learning-from-observation, for a robot to automatically acquire what-to-do through observation of human performance. Since a simple mimicking method to repeat exact joint angles does…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

We propose a technique for multi-task learning from demonstration that trains the controller of a low-cost robotic arm to accomplish several complex picking and placing tasks, as well as non-prehensile manipulation. The controller is a…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…

Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…

In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…

In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…

Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…