相关论文: Learning Feasibility to Imitate Demonstrators with…

Learning from Demonstration (LfD) algorithms enable humans to teach new skills to robots through demonstrations. The learned skills can be robustly reproduced from the identical or near boundary conditions (e.g., initial point). However,…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

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…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Despite its promise, imitation learning often fails in long-horizon environments where perfect replication of demonstrations is unrealistic and small errors can accumulate catastrophically. We introduce Cago (Capability-Aware Goal…

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…

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…

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots…

Demonstration learning aims to guide the prompt prediction via providing answered demonstrations in the few shot settings. Despite achieving promising results, existing work only concatenates the answered examples as demonstrations to the…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

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…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Given a Markov decision process (MDP), we seek to learn representations for a range of policies to facilitate behavior steering at test time. As policies of an MDP are uniquely determined by their occupancy measures, we propose modeling…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Gripper-in-hand data collection decouples demonstration acquisition from robot hardware, but whether a trajectory is executable on the target robot remains unknown until a separate replay-and-validate stage. Failed demonstrations therefore…

Imitation learning algorithms learn a policy from demonstrations of expert behavior. We show that, for deterministic experts, imitation learning can be done by reduction to reinforcement learning with a stationary reward. Our theoretical…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

We consider apprenticeship learning, i.e., having an agent learn a task by observing an expert demonstrating the task in a partially observable environment when the model of the environment is uncertain. This setting is useful in…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…