相关论文: Learning to Segment and Represent Motion Primitive…

Considering the driving habits which are learned from the naturalistic driving data in the path-tracking system can significantly improve the acceptance of intelligent vehicles. Therefore, the goal of this paper is to generate the…

Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A…

In this paper, we present our work in progress towards creating a library of motion primitives. This library facilitates easier and more intuitive learning and reusing of robotic skills. Users can teach robots complex skills through…

This paper presents a novel incremental learning algorithm for pedestrian motion prediction, with the ability to improve the learned model over time when data is incrementally available. In this setup, trajectories are modeled as simple…

We introduce a method for automated temporal segmentation of human motion data into distinct actions and compositing motion primitives based on self-similar structures in the motion sequence. We use neighbourhood graphs for the partitioning…

How to integrate human factors into the motion planning system is of great significance for improving the acceptance of intelligent vehicles. Decomposing motion into primitives and then accurately and smoothly joining the motion primitives…

This paper proposes an approach for segmenting a task consisting of compliant motions into phases, learning a primitive for each segmented phase of the task, and reproducing the task by sequencing primitives online based on the learned…

Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

Probabilistic Movement Primitives (ProMPs) are a widely used representation of movements for human-robot interaction. They also facilitate the factorization of temporal and spatial structure of movements. In this work we investigate a…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of…

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…

Visual segmentation is a key perceptual function that partitions visual space and allows for detection, recognition and discrimination of objects in complex environments. The processes underlying human segmentation of natural images are…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…

Despite many advances in deep-learning based semantic segmentation, performance drop due to distribution mismatch is often encountered in the real world. Recently, a few domain adaptation and active learning approaches have been proposed to…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…

We can use driving data collected over a long period of time to extract rich information about how vehicles behave in different areas of the roads. In this paper, we introduce the concept of directional primitives, which is a representation…