相关论文: Metric-Based Imitation Learning Between Two Dissim…

Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…

Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…

Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

Artificial limbs are sophisticated devices to assist people with tasks of daily living. Despite advanced robotic prostheses demonstrating similar motion capabilities to biological limbs, users report them difficult and non-intuitive to use.…

Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…

This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

In this paper we explore using self-supervised correspondence for improving the generalization performance and sample efficiency of visuomotor policy learning. Prior work has primarily used approaches such as autoencoding, pose-based…

This paper extends recent work in interactive machine learning (IML) focused on effectively incorporating human feedback. We show how control and feedback signals complement each other in systems which model human reward. We demonstrate…

Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…