相关论文: Overcoming Some Drawbacks of Dynamic Movement Prim…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known concept in motion planning due to their ability to generate…

DMP have been extensively applied in various robotic tasks thanks to their generalization and robustness properties. However, the successful execution of a given task may necessitate the use of different motion patterns that take into…

Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan…

Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…

One of the most important challenges in robotics is producing accurate trajectories and controlling their dynamic parameters so that the robots can perform different tasks. The ability to provide such motion control is closely related to…

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…

Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints. Nonetheless, we argue that current MMP models lack crucial…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…

Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized problem solving with foundational models. Large vision and…

Learning grinding skills from human craftsmen via imitation learning has become a key research topic in robotic machining. Due to their strong generalization and robustness to external disturbances, Dynamical Movement Primitives (DMPs)…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

Imitation learning has been studied widely as a convenient way to transfer human skills to robots. This learning approach is aimed at extracting relevant motion patterns from human demonstrations and subsequently applying these patterns to…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an efficient technique to learn and reproduce complex discrete…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context, Dynamic Motion Primitives offer built - in stability and…

Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…