相关论文: Dynamic Movement Primitives in Robotics: A Tutoria…

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…

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…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Integrated Task and Motion Planning (ITMP) for mobile robots in a dynamic environment with moving obstacles is a challenging research question and attracts more and more attentions recently. Most existing methods either restrict to static…

Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…

Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns…

We introduce a novel deep reinforcement learning (RL) approach called Movement Primitive-based Planning Policy (MP3). By integrating movement primitives (MPs) into the deep RL framework, MP3 enables the generation of smooth trajectories…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

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…

Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the restriction to symmetry-induced dynamics, e.g. by using the…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…

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…

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,…

We formalize decision-making problems in robotics and automated control using continuous MDPs and actions that take place over continuous time intervals. We then approximate the continuous MDP using finer and finer discretizations. Doing…

Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence,…

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…

During the past few years, probabilistic approaches to imitation learning have earned a relevant place in the literature. One of their most prominent features, in addition to extracting a mean trajectory from task demonstrations, is that…