相关论文: Learning Modular Robot Locomotion from Demonstrati…

Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

We present a methodology for fast prototyping of morphologies and controllers for robot locomotion. Going beyond simulation-based approaches, we argue that the form and function of a robot, as well as their interplay with real-world…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

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…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single…

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…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

Deep Reinforcement Learning has been successfully applied to learn robotic control. However, the corresponding algorithms struggle when applied to problems where the agent is only rewarded after achieving a complex task. In this context,…