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

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

Embodied robots nowadays can already handle many real-world manipulation tasks. However, certain other real-world tasks involving dynamic processes (e.g., shooting a basketball into a hoop) are highly agile and impose high precision…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Typically, loss functions, regularization mechanisms and other important aspects of training parametric models are chosen heuristically from a limited set of options. In this paper, we take the first step towards automating this process,…

Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for transferring skills to robots. It allows to implicitly learn…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…

Model-based RL/control have gained significant traction in robotics. Yet, these approaches often remain data-inefficient and lack the explainability of hand-engineered solutions. This makes them difficult to debug/integrate in…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Deep learning is increasingly moving towards a transfer learning paradigm whereby large foundation models are fine-tuned on downstream tasks, starting from an initialization learned on the source task. But an initialization contains…

Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…

Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…