相关论文: Quantifying Demonstration Quality for Robot Learni…

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…

Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

Demonstration is an appealing way for humans to provide assistance to reinforcement-learning agents. Most approaches in this area view demonstrations primarily as sources of behavioral bias. But in sparse-reward tasks, humans seem to treat…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

The performance of imitation learning policies often hinges on the datasets with which they are trained. Consequently, investment in data collection for robotics has grown across both industrial and academic labs. However, despite the…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

The robotic handling of compliant and deformable food raw materials, characterized by high biological variation, complex geometrical 3D shapes, and mechanical structures and texture, is currently in huge demand in the ocean space,…

Utilizing a robot in a new application requires the robot to be programmed at each time. To reduce such programmings efforts, we have been developing ``Learning-from-observation (LfO)'' that automatically generates robot programs by…

Learning generalizable insertion skills in a data-efficient manner has long been a challenge in the robot learning community. While the current state-of-the-art methods with reinforcement learning (RL) show promising performance in…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for…

Learning from demonstrations is a popular tool for accelerating and reducing the exploration requirements of reinforcement learning. When providing expert demonstrations to human students, we know that the demonstrations must fall within a…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

In order for autonomous mobile robots to navigate in human spaces, they must abide by our social norms. Reinforcement learning (RL) has emerged as an effective method to train sequential decision-making policies that are able to respect…

Deep reinforcement learning (RL) has achieved several high profile successes in difficult decision-making problems. However, these algorithms typically require a huge amount of data before they reach reasonable performance. In fact, their…

The key to reconciling the polynomial-time intractability of many machine learning tasks in the worst case with the surprising solvability of these tasks by heuristic algorithms in practice seems to be exploiting restrictions on real-world…