相关论文: Experience Reuse with Probabilistic Movement Primi…

Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…

Transferring knowledge across a sequence of reinforcement-learning tasks is challenging, and has a number of important applications. Though there is encouraging empirical evidence that transfer can improve performance in subsequent…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in…

In previous works, neural sequence models have been shown to improve significantly if external prior knowledge can be provided, for instance by allowing the model to access the embeddings of explicit features during both training and…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

This paper studies the impact of the initial data gathering method on the subsequent learning of a dynamics model. Dynamics models approximate the true transition function of a given task, in order to perform policy search directly on the…

Many tasks in robotics can be decomposed into sub-tasks that are performed simultaneously. In many cases, these sub-tasks cannot all be achieved jointly and a prioritization of such sub-tasks is required to resolve this issue. In this…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Reinforcement learning and probabilistic reasoning algorithms aim at learning from interaction experiences and reasoning with probabilistic contextual knowledge respectively. In this research, we develop algorithms for robot task…

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…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…

We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different…

Robot learning of real-world manipulation tasks remains challenging and time consuming, even though actions are often simplified by single-step manipulation primitives. In order to compensate the removed time dependency, we additionally…

This paper proposes a novel learning method for multi-task applications. Multi-task neural networks can learn to transfer knowledge across different tasks by using parameter sharing. However, sharing parameters between unrelated tasks can…

This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…

The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

We study the problem of representational transfer in RL, where an agent first pretrains in a number of source tasks to discover a shared representation, which is subsequently used to learn a good policy in a \emph{target task}. We propose a…