相关论文: Learning Periodic Tasks from Human Demonstrations

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

Robots should learn new tasks from humans. But how do humans convey what they want the robot to do? Existing methods largely rely on humans physically guiding the robot arm throughout their intended task. Unfortunately -- as we scale up the…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Learning from demonstrations is an easy and intuitive way to show examples of successful behavior to a robot. However, the fact that humans optimize or take advantage of their body and not of the robot, usually called the embodiment problem…

The goal of learning from demonstrations is to learn a policy for an agent (imitator) by mimicking the behavior in the demonstrations. Prior works on learning from demonstrations assume that the demonstrations are collected by a…

Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea,…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

Analyzing periodic video sequences is a key topic in applications such as automatic production systems, remote sensing, medical applications, or physical training. An example is counting repetitions of a physical exercise. Due to the…

In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

We study the problem of generalizable task learning from human demonstration videos without extra training on the robot or pre-recorded robot motions. Given a set of human demonstration videos showing a task with different objects/tools…

The availability of low-cost range sensors and the development of relatively robust algorithms for the extraction of skeleton joint locations have inspired many researchers to develop human activity recognition methods using the 3-D data.…