相关论文: Improving Robot-Centric Learning from Demonstratio…

With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However,…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

Federated learning enables the deployment of machine learning to problems for which centralized data collection is impractical. Adding differential privacy guarantees bounds on privacy while data are contributed to a global model. Adding…

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD ) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass…

Our work aims at efficiently leveraging ambiguous demonstrations for the training of a reinforcement learning (RL) agent. An ambiguous demonstration can usually be interpreted in multiple ways, which severely hinders the RL-Agent from…

In complex environments with high dimension, training a reinforcement learning (RL) model from scratch often suffers from lengthy and tedious collection of agent-environment interactions. Instead, leveraging expert demonstration to guide RL…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

In this paper, two novel practical methods of Reinforcement Learning from Demonstration (RLfD) are developed and applied to automatic berthing control systems for Unmanned Surface Vessel. A new expert data generation method, called Model…

When demonstrating a task, human tutors pedagogically modify their behavior by either "showing" the task rather than just "doing" it (exaggerating on relevant parts of the demonstration) or by giving demonstrations that best disambiguate…

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…

Representation learning has been proven to play an important role in the unprecedented success of machine learning models in numerous tasks, such as machine translation, face recognition and recommendation. The majority of existing…

Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One established technique to implement LfD in robots is to encode…

Several methods exist for teaching robots, with one of the most prominent being Learning from Demonstration (LfD). Many LfD representations can be formulated as constrained optimization problems. We propose a novel convex formulation of the…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

Meta reinforcement learning (Meta-RL) is an approach wherein the experience gained from solving a variety of tasks is distilled into a meta-policy. The meta-policy, when adapted over only a small (or just a single) number of steps, is able…

We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g.,…

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…

Most existing distance metric learning approaches use fully labeled data to learn the sample similarities in an embedding space. We present a self-training framework, SLADE, to improve retrieval performance by leveraging additional…