相关论文: Learning to Shift Attention for Motion Generation

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, dressing, or cleaning policies. However, the main challenge…

Imitation learning approaches achieve good generalization within the range of the training data, but tend to generate unpredictable motions when querying outside this range. We present a novel approach to imitation learning with enhanced…

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

In Programming by Demonstration, the robot learns novel skills from human demonstrations. After learning, the robot should be able not only to reproduce the skill, but also to generalize it to shifted domains without collecting new training…

In contact-rich tasks, while position trajectories are often easy to obtain, appropriate force commands are typically unknown. Although it is conceivable to generate force commands using a pretrained foundation model such as…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

This work addresses the problem of robot manipulation tasks under unknown dynamics, such as pick-and-place tasks under payload uncertainty, where active exploration and(/for) online parameter adaptation during task execution are essential…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Learning models of user behaviour is an important problem that is broadly applicable across many application domains requiring human-robot interaction. In this work, we show that it is possible to learn generative models for distinct user…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Methods for teaching motion skills to robots focus on training for a single skill at a time. Robots capable of learning from demonstration can considerably benefit from the added ability to learn new movement skills without forgetting what…

Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Data Generation (CP-Gen), a method that uses a single expert…