相关论文: A novel Skill-based Programming Paradigm based on …
We treat the problem of autonomous acquisition of manipulation skills where problem-solving strategies are initially available only for a narrow range of situations. We propose to extend the range of solvable situations by autonomous…
Interactive robot learning is a challenging problem as the robot is present with human users who expect the robot to learn novel skills to solve novel tasks perpetually with sample efficiency. In this work we present a framework for robots…
Robots are a popular platform for introducing computing and artificial intelligence to novice programmers. However, programming state-of-the-art robots is very challenging, and requires knowledge of concurrency, operation safety, and…
A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…
One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
Integrating robots in complex everyday environments requires a multitude of problems to be solved. One crucial feature among those is to equip robots with a mechanism for teaching them a new task in an easy and natural way. When teaching…
Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…
Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that…
The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…
Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…
This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly…
When presented with an unknown robot (subject) how can an autonomous agent (learner) figure out what this new robot can do? The subject's appearance can provide cues to its physical as well as cognitive capabilities. Seeing a humanoid can…