相关论文: Interactive Imitation Learning of Bimanual Movemen…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics…

Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…

Imitation Learning (IL) is a powerful paradigm to teach robots to perform manipulation tasks by allowing them to learn from human demonstrations collected via teleoperation, but has mostly been limited to single-arm manipulation. However,…

Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context, Dynamic Motion Primitives offer built - in stability and…

Teaching robots to autonomously complete everyday tasks remains a challenge. Imitation Learning (IL) is a powerful approach that imbues robots with skills via demonstrations, but is limited by the labor-intensive process of collecting…

When human acquire physical skills (e.g., tennis) from experts, we tend to first learn from merely observing the expert. But this is often insufficient. We then engage in practice, where we try to emulate the expert and ensure that our…

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…

We introduce One-Shot Dual-Arm Imitation Learning (ODIL), which enables dual-arm robots to learn precise and coordinated everyday tasks from just a single demonstration of the task. ODIL uses a new three-stage visual servoing (3-VS) method…

Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged…

Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…