相关论文: Imitation learning-based framework for learning 6-…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…

In imitation learning, robots are supposed to learn from demonstrations of the desired behavior. Most of the work in imitation learning for swarm robotics provides the demonstrations as rollouts of an existing policy. In this work, we…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Imitation from observation is the framework of learning tasks by observing demonstrated state-only trajectories. Recently, adversarial approaches have achieved significant performance improvements over other methods for imitating complex…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

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…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However,…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative models. Although the problem has been studied for years under names such as…