相关论文: Teleoperator Imitation with Continuous-time Safety

Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…

Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting,…

We present an imitation learning method for autonomous drone patrolling based only on raw videos. Different from previous methods, we propose to let the drone learn patrolling in the air by observing and imitating how a human navigator does…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…

In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration. Compliant motions can be used in assembly…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

In mobile manipulation (MM), robots can both navigate within and interact with their environment and are thus able to complete many more tasks than robots only capable of navigation or manipulation. In this work, we explore how to apply…

As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

This paper presents an attempt to replicate the robot imitation work conducted by Sermanet et al., with a specific focus on the experiments involving robot joint position prediction. While the original study utilized human poses to predict…

Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…

Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning…