相关论文: Learning Riemannian Manifolds for Geodesic Motion …

In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…

Learning grinding skills from human craftsmen via imitation learning has become a key research topic in robotic machining. Due to their strong generalization and robustness to external disturbances, Dynamical Movement Primitives (DMPs)…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…

Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…

Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…

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…

Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Deep generative models learn a mapping from a low dimensional latent space to a high-dimensional data space. Under certain regularity conditions, these models parameterize nonlinear manifolds in the data space. In this paper, we investigate…

Manifolds discovered by machine learning models provide a compact representation of the underlying data. Geodesics on these manifolds define locally length-minimising curves and provide a notion of distance, which are key for reduced-order…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…