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

Use of nonlinear feature maps via kernel approximation has led to success in many online learning tasks. As a popular kernel approximation method, Nystr\"{o}m approximation, has been well investigated, and various landmark points selection…

As the size and richness of available datasets grow larger, the opportunities for solving increasingly challenging problems with algorithms learning directly from data grow at the same pace. Consequently, the capability of learning…

Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…

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…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Extended dynamic mode decomposition (EDMD) is a well-established method to generate a data-driven approximation of the Koopman operator for analysis and prediction of nonlinear dynamical systems. Recently, kernel EDMD (kEDMD) has gained…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

Programming a robot manipulator should be as intuitive as possible. To achieve that, the paradigm of teaching motion skills by providing few demonstrations has become widely popular in recent years. Probabilistic versions thereof take into…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…

Learning complex robot motions necessarily demands to have models that are able to encode and retrieve full-pose trajectories when tasks are defined in operational spaces. Probabilistic movement primitives (ProMPs) stand out as a principled…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Few-shot learning features the capability of generalizing from a few examples. In this paper, we first identify that a discriminative feature space, namely a rectified metric space, that is learned to maintain the metric consistency from…

This paper develops a novel mathematical framework for collaborative learning by means of geometrically inspired kernel machines which includes statements on the bounds of generalisation and approximation errors, and sample complexity. For…

Action representation is an important yet often overlooked aspect in end-to-end robot learning with deep networks. Choosing one action space over another (e.g. target joint positions, or Cartesian end-effector poses) can result in…

This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of…

An extreme learning machine (ELM) can be regarded as a two stage feed-forward neural network (FNN) learning system which randomly assigns the connections with and within hidden neurons in the first stage and tunes the connections with…