相关论文: Imitation Learning for Autonomous Trajectory Learn…

Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However,…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…

In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, easing the cognitive load of…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…

Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…

Causal learning allows humans to predict the effect of their actions on the known environment and use this knowledge to plan the execution of more complex actions. Such knowledge also captures the behaviour of the environment and can be…