相关论文: Learning to Sequence and Blend Robot Skills via Di…

Differential replication through copying refers to the process of replicating the decision behavior of a machine learning model using another model that possesses enhanced features and attributes. This process is relevant when external…

Humans perform exquisite sensorimotor skills, both individually and in teams, from athletes performing rhythmic gymnastics to everyday tasks like carrying a cup of coffee. The "predictive brain" framework suggests that mastering these…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Modeling sequential patterns from data is at the core of various time series forecasting tasks. Deep learning models have greatly outperformed many traditional models, but these black-box models generally lack explainability in prediction…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

Differentiable programming is the combination of classical neural networks modules with algorithmic ones in an end-to-end differentiable model. These new models, that use automatic differentiation to calculate gradients, have new learning…

In many learning tasks, certain requirements on the processing of individual data samples should arguably be formalized as strict constraints in the underlying optimization problem, rather than by means of arbitrary penalties. We show that,…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…

Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…

Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…

Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear…

The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…

Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…