相关论文: Learning and Generalizing Variable Impedance Manip…

In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems…

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias.…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

This paper aims to develop a new human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) by introducing the co-adaption techniques via model-based reinforcement…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Placing robots outside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in…

In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also…

Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…