相关论文: Disturbance Injection under Partial Automation: Ro…

With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now widely used to train large, generalized policies that predict…

Efficiently optimizing multi-model inference pipelines for fast, accurate, and cost-effective inference is a crucial challenge in machine learning production systems, given their tight end-to-end latency requirements. To simplify the…

Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…

Recent work has demonstrated the potential of diffusion models in robot bimanual skill learning. However, existing methods ignore the learning of posture-dependent task features, which are crucial for adapting dual-arm configurations to…

In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a promising strategy for generating a range of human-like robot…

Deep active inference has been proposed as a scalable approach to perception and action that deals with large policy and state spaces. However, current models are limited to fully observable domains. In this paper, we describe a deep active…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinforcement learning, together with the development of robust…

In standard reinforcement learning settings, agents typically assume immediate feedback about the effects of their actions after taking them. However, in practice, this assumption may not hold true due to physical constraints and can…

In this paper, a novel machine learning derived control performance assessment (CPA) classification system is proposed. It is dedicated for a wide class of PID-based control industrial loops with processes exhibiting dynamical properties…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

One of the more prominent trends within Industry 4.0 is the drive to employ Robotic Process Automation (RPA), especially as one of the elements of the Lean approach. The full implementation of RPA is riddled with challenges relating both to…

Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of…

Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…

Domain incremental learning (DIL) poses a significant challenge in real-world scenarios, as models need to be sequentially trained on diverse domains over time, all the while avoiding catastrophic forgetting. Mitigating representation…