相关论文: Markerless Visual Robot Programming by Demonstrati…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

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,…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

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,…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…

We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

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…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

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…

In this paper, we consider the problem of learning object manipulation tasks from human demonstration using RGB or RGB-D cameras. We highlight the key challenges in capturing sufficiently good data with no tracking devices - starting from…

We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…