相关论文: EKMP: Generalized Imitation Learning with Adaptati…

Prompt learning represents a promising method for adapting pre-trained vision-language models (VLMs) to various downstream tasks by learning a set of text embeddings. One challenge inherent to these methods is the poor generalization…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Conventional vision algorithms adopt a single type of feature or a simple concatenation of multiple features, which is always represented in a high-dimensional space. In this paper, we propose a novel unsupervised spectral embedding…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints. Nonetheless, we argue that current MMP models lack crucial…

In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…

While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…

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…

Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications.…

Mixed Integer Linear Programs (MILP) are well known to be NP-hard (Non-deterministic Polynomial-time hard) problems in general. Even though pure optimization-based methods, such as constraint generation, are guaranteed to provide an optimal…

Motion planning with constraints is an important part of many real-world robotic systems. In this work, we study manifold learning methods to learn such constraints from data. We explore two methods for learning implicit constraint…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…

To support humanoid robots in performing manipulation tasks, it is essential to study stable standing while accommodating upper-body motions. However, the limited controllable range of humanoid robots in a standing position affects the…

Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresponding continuous…

Emulator embedded neural networks, which are a type of physics informed neural network, leverage multi-fidelity data sources for efficient design exploration of aerospace engineering systems. Multiple realizations of the neural network…

Deep reinforcement learning algorithms typically act on the same set of actions. However, this is not sufficient for a wide range of real-world applications where different subsets are available at each step. In this thesis, we consider the…

In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…

Kernel approximation via nonlinear random feature maps is widely used in speeding up kernel machines. There are two main challenges for the conventional kernel approximation methods. First, before performing kernel approximation, a good…