相关论文: Keyframe Demonstration Seeded and Bayesian Optimiz…
Robots need to learn skills that can not only generalize across similar problems but also be directed to a specific goal. Previous methods either train a new skill for every different goal or do not infer the specific target in the presence…
Autonomous object search is challenging for mobile robots operating in indoor environments due to partial observability, perceptual uncertainty, and the need to trade off exploration and navigation efficiency. Classical probabilistic…
Humans demonstrate a variety of interesting behavioral characteristics when performing tasks, such as selecting between seemingly equivalent optimal actions, performing recovery actions when deviating from the optimal trajectory, or…
In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…
Learning from demonstration (LfD) is an intuitive framework allowing non-expert users to easily (re-)program robots. However, the quality and quantity of demonstrations have a great influence on the generalization performances of LfD…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…
Learning from demonstration methods usually leverage close to optimal demonstrations to accelerate training. By contrast, when demonstrating a task, human teachers deviate from optimal demonstrations and pedagogically modify their behavior…
In the field of reinforcement learning there has been recent progress towards safety and high-confidence bounds on policy performance. However, to our knowledge, no practical methods exist for determining high-confidence policy performance…
This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves…
The problem of Learning from Demonstration is targeted at learning to perform tasks based on observed examples. One approach to Learning from Demonstration is Inverse Reinforcement Learning, in which actions are observed to infer rewards.…
Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…
In this report paper we first present a report of the Advanced Machine Learning Course Project on the provided data set and then present a novel heuristic algorithm for exact Bayesian network (BN) structure discovery that uses decomposable…
Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…
Learning from Demonstration (LfD) enables robots to acquire versatile skills by learning motion policies from human demonstrations. It endows users with an intuitive interface to transfer new skills to robots without the need for…
In this paper we propose DKIBO, a Bayesian optimization (BO) algorithm that accommodates domain knowledge to tune exploration in the search space. Bayesian optimization has recently emerged as a sample-efficient optimizer for many…
Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
We consider the problem of a robot learning the mechanical properties of objects through physical interaction with the object, and introduce a practical, data-efficient approach for identifying the motion models of these objects. The…
Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…