相关论文: Learning Skill-based Industrial Robot Tasks with U…

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies…

One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing…

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

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…

In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…

For a robot to learn a good policy, it often requires expensive equipment (such as sophisticated sensors) and a prepared training environment conducive to learning. However, it is seldom possible to perfectly equip robots for economic…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots. Related works have used MR interfaces to communicate robot intents and beliefs to a co-located human, as well as developed…

Developing generalizable robot policies that can robustly handle varied environmental conditions and object instances remains a fundamental challenge in robot learning. While considerable efforts have focused on collecting large robot…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…

Meta-learning algorithms use past experience to learn to quickly solve new tasks. In the context of reinforcement learning, meta-learning algorithms acquire reinforcement learning procedures to solve new problems more efficiently by…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…