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

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

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…

Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these primitives. Although existing solutions have tackled the…

Effective movement primitives should be capable of encoding and generating a rich repertoire of trajectories -- typically collected from human demonstrations -- conditioned on task-defining parameters such as vision or language inputs.…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

Mobile manipulation tasks remain one of the critical challenges for the widespread adoption of autonomous robots in both service and industrial scenarios. While planning approaches are good at generating feasible whole-body robot…

In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…

Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A…

Acquiring new robot motor skills is cumbersome, as learning a skill from scratch and without prior knowledge requires the exploration of a large space of motor configurations. Accordingly, for learning a new task, time could be saved by…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…

Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

Policy learning in robot-assisted surgery (RAS) lacks data efficient and versatile methods that exhibit the desired motion quality for delicate surgical interventions. To this end, we introduce Movement Primitive Diffusion (MPD), a novel…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning…

Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…

Learning to locomote to arbitrary goals on hardware remains a challenging problem for reinforcement learning. In this paper, we present a hierarchical learning framework that improves sample-efficiency and generalizability of locomotion…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…