相关论文: Human-Robot Skill Transfer with Enhanced Complianc…

Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…

Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids requires overcoming significant morphological mismatches.…

Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…

Movement Primitives (MPs) are a well-established method for representing and generating modular robot trajectories. This work presents FA-ProDMP, a new approach which introduces force awareness to Probabilistic Dynamic Movement Primitives…

It is desirable for future robots to quickly learn new tasks and adapt learned skills to constantly changing environments. To this end, Probabilistic Movement Primitives (ProMPs) have shown to be a promising framework to learn generalizable…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

The problem of generalization in learning from demonstration (LfD) has received considerable attention over the years, particularly within the context of movement primitives, where a number of approaches have emerged. Recently, two…

Learning from human video demonstrations offers a scalable alternative to teleoperation or kinesthetic teaching, but poses challenges for robot manipulators due to embodiment differences and joint feasibility constraints. We address this…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

To learn manipulation skills, robots need to understand the features of those skills. An easy way for robots to learn is through Learning from Demonstration (LfD), where the robot learns a skill from an expert demonstrator. While the main…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process…

Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…

Learning from Demonstration (LfD) is a popular approach for robots to acquire new skills, but most LfD methods suffer from imperfections in human demonstrations. Prior work typically treats these suboptimalities as random noise. In this…

Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…

Socially compliant navigation is an integral part of safety features in Human-Robot Interaction. Traditional approaches to mobile navigation prioritize physical aspects, such as efficiency, but social behaviors gain traction as robots…

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…

For a successful deployment of physical Human-Robot Cooperation (pHRC), humans need to be able to teach robots new motor skills quickly. Probabilistic movement primitives (ProMPs) are a promising method to encode a robot's motor skills…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…