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Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification. However, research in this area has been limited to…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

One of the main issues in Imitation Learning is the erroneous behavior of an agent when facing out-of-distribution situations, not covered by the set of demonstrations given by the expert. In this work, we tackle this problem by introducing…

In this paper, We Apply Reinforcement learning (RL) techniques to train a realistic biomechanical model to work with different people and on different walking environments. We benchmarking 3 RL algorithms: Deep Deterministic Policy Gradient…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…

A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic demonstrations on a robotic manipulator requires the teacher to…

Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy…

Sparsity learning with known grouping structure has received considerable attention due to wide modern applications in high-dimensional data analysis. Although advantages of using group information have been well-studied by shrinkage-based…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…

A good estimation of the actions' cost is key in task planning for human-robot collaboration. The duration of an action depends on agents' capabilities and the correlation between actions performed simultaneously by the human and the robot.…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Imitation learning has been applied to a range of robotic tasks, but can struggle when robots encounter edge cases that are not represented in the training data (i.e., distribution shift). Interactive fleet learning (IFL) mitigates…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…