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

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…

Doodling is a useful and common intelligent skill that people can learn and master. In this work, we propose a two-stage learning framework to teach a machine to doodle in a simulated painting environment via Stroke Demonstration and deep…

Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularly in tasks such as transport that demand accuracy and…

Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…

We present Skill Transformer, an approach for solving long-horizon robotic tasks by combining conditional sequence modeling and skill modularity. Conditioned on egocentric and proprioceptive observations of a robot, Skill Transformer is…

In continual learning, understanding the properties of task sequences and their relationships to model performance is important for developing advanced algorithms with better accuracy. However, efforts in this direction remain…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

This paper introduces a novel Learning from Demonstration framework to learn robotic skills with keyframe demonstrations using a Dynamic Bayesian Network (DBN) and a Bayesian Optimized Policy Search approach to improve the learned skills.…

Software testing is an important tool to ensure software quality. This is a hard task in robotics due to dynamic environments and the expensive development and time-consuming execution of test cases. Most testing approaches use model-based…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

Human intelligence is characterized not only by the capacity to learn complex skills, but the ability to rapidly adapt and acquire new skills within an ever-changing environment. In this work we study how the learning of modular solutions…

Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In this paper, we propose SkillsCrafter, a…

Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Sequence learning has attracted much research attention from the machine learning community in recent years. In many applications, a sequence learning task is usually associated with multiple temporally correlated auxiliary tasks, which are…