相关论文: Learning Periodic Tasks from Human Demonstrations

Can we learn robot manipulation for everyday tasks, only by watching videos of humans doing arbitrary tasks in different unstructured settings? Unlike widely adopted strategies of learning task-specific behaviors or direct imitation of a…

This paper presents a novel method for learning reward functions for robotic motions by harnessing the power of a CLIP-based model. Traditional reward function design often hinges on manual feature engineering, which can struggle to…

To learn manipulation skills, robots need to understand the features of those skills. An easy way for robots to learn is through Learning from Demonstration (LfD), where the robot learns a skill from an expert demonstrator. While the main…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

Recent years have seen a growth in the number of industrial robots working closely with end-users such as factory workers. This growing use of collaborative robots has been enabled in part due to the availability of end-user robot…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…

Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…

In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…

Learning to perform manipulation tasks from human videos is a promising approach for teaching robots. However, many manipulation tasks require changing control parameters during task execution, such as force, which visual data alone cannot…

In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by…

Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…

Robots need to learn behaviors in intuitive and practical ways for widespread deployment in human environments. To learn a robot behavior end-to-end, we train a variant of the ResNet that maps eye-in-hand camera images to end-effector…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…