相关论文: Muscle Excitation Estimation in Biomechanical Simu…

Biomechanical forward simulation holds great potential for HCI, enabling the generation of human-like movements in interactive tasks. However, training biomechanical models with reinforcement learning is challenging, particularly for…

A self-learning optimal control algorithm for episodic fixed-horizon manufacturing processes with time-discrete control actions is proposed and evaluated on a simulated deep drawing process. The control model is built during consecutive…

Voluntary human motion is the product of muscle activity that results from upstream motion planning of the motor cortical areas. We show that muscle activity can be artificially generated based on motion features such as position, velocity,…

In this work, we investigate how implicit neural feed back can accelerate reinforcement learning in complex robotic manipulation settings. While prior electroencephalogram (EEG) guided reinforcement learning studies have primarily focused…

Electromagnetic stimulation probes and modulates the neural systems that control movement. Key to understanding their effects is the muscle recruitment curve, which maps evoked potential size against stimulation intensity. Current methods…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

We present a modular approach to reinforcement learning that uses a Bayesian representation of the uncertainty over models. The approach, BOSS (Best of Sampled Set), drives exploration by sampling multiple models from the posterior and…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Musculoskeletal models have been widely used for detailed biomechanical analysis to characterise various functional impairments given their ability to estimate movement variables (i.e., muscle forces and joint moment) which cannot be…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The…

Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…

Recent work has shown that dopamine-modulated STDP can solve many of the issues associated with reinforcement learning, such as the distal reward problem. Spiking neural networks provide a useful technique in implementing reinforcement…

How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-controlled humanoids fail to model key aspects of human motor…

Muscle-actuated organisms are capable of learning an unparalleled diversity of dexterous movements despite their vast amount of muscles. Reinforcement learning (RL) on large musculoskeletal models, however, has not been able to show similar…

This paper presents a model for dynamic adjustment of the motivation degree, using a reinforcement learning approach, in an action selection mechanism previously developed by the authors. The learning takes place in the modification of a…

While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…

Accurate understanding of muscle activation and muscle forces plays an essential role in neuro-rehabilitation and musculoskeletal disorder treatments. Computational musculoskeletal modeling has been widely used as a powerful non-invasive…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…