相关论文: Robot Skill Learning Via Classical Robotics-Based …

Stochastic models are highly relevant tools in science, engineering, and society. Recent work suggests emerging quantum computing technologies can substantially decrease the memory requirements for simulating stochastic models. Here we show…

In the context of robot learning for manipulation, curated datasets are an important resource for advancing the state of the art; however, available datasets typically only include successful executions or are focused on one particular type…

Modern machine learning methods often require more data for training than a single expert can provide. Therefore, it has become a standard procedure to collect data from external sources, e.g. via crowdsourcing. Unfortunately, the quality…

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machine learning approaches have enabled system identification…

Generalization and adaptation of learned skills to novel situations is a core requirement for intelligent autonomous robots. Although contextual reinforcement learning provides a principled framework for learning and generalization of…

The future of work does not require a choice between human and robot. Aside from explicit human-robot collaboration, robotics can play an increasingly important role in helping train workers as well as the tools they may use, especially in…

A common problem of classical neural network architectures is that additional information or expert knowledge cannot be naturally integrated into the learning process. To overcome this limitation, we propose a two-step approach consisting…

Sensors and Artificial Intelligence (AI) have revolutionized the analysis of human movement, but the scarcity of specific samples presents a significant challenge in training intelligent systems, particularly in the context of diagnosing…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

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…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

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…

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…

We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…