相关论文: Evaluation of state representation methods in robo…

We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias.…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One established technique to implement LfD in robots is to encode…

Reinforcement learning in partially observable environments is typically challenging, as it requires agents to learn an estimate of the underlying system state. These challenges are exacerbated in multi-agent settings, where agents learn…

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence,…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

Hybrid systems are a compact and natural mechanism with which to address problems in robotics. This work introduces an approach to learning hybrid systems from demonstrations, with an emphasis on extracting models that are explicitly…

Some Learning from Demonstrations (LfD) methods handle small mismatches in the action spaces of the teacher and student. Here we address the case where the teacher's morphology is substantially different from that of the student. Our…

We introduce a Learning from Demonstration (LfD) approach for contact-rich manipulation tasks with articulated mechanisms. The extracted policy from a single human demonstration generalizes to different mechanisms of the same type and is…

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…

As end-to-end robotic policies are progressively deployed in the real world to solve real tasks, they face a gap between the training and inference conditions. Scaling the amount and diversity of the training data has shown some success in…

Artificial neural systems trained using reinforcement, supervised, and unsupervised learning all acquire internal representations of high dimensional input. To what extent these representations depend on the different learning objectives is…

It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state representations with supervision from Neural Radiance Fields (NeRFs) can improve…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…