相关论文: Practical Robot Learning from Demonstrations using…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

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…

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Recently, the Deep Planning Network (PlaNet) approach was introduced as a model-based reinforcement learning method that learns environment dynamics directly from pixel observations. This architecture is useful for learning tasks in which…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot…

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…

To realize human-robot collaboration, robots need to execute actions for new tasks according to human instructions given finite prior knowledge. Human experts can share their knowledge of how to perform a task with a robot through…

Deep Reinforcement learning holds the guarantee of empowering self-ruling robots to master enormous collections of conduct abilities with negligible human mediation. The improvements brought by this technique enables robots to perform…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Robot learning holds the promise of learning policies that generalize broadly. However, such generalization requires sufficiently diverse datasets of the task of interest, which can be prohibitively expensive to collect. In other fields,…

Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

The term "nexting" has been used by psychologists to refer to the propensity of people and many other animals to continually predict what will happen next in an immediate, local, and personal sense. The ability to "next" constitutes a basic…