相关论文: Robotic LEGO Assembly and Disassembly from Human D…

In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by…

We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…

Automating disassembly of critical components from end-of-life (EoL) desktops, such as high-value items like RAM modules and CPUs, as well as sensitive parts like hard disk drives, remains challenging due to the inherent variability and…

This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform assembly…

With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…

Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial…

Learning from human demonstrations is an emerging trend for designing intelligent robotic systems. However, previous methods typically regard videos as instructions, simply dividing them into action sequences for robotic repetition, which…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot learning has been accelerated by the…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…

We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…

Humans can naturally learn to execute a new task by seeing it performed by other individuals once, and then reproduce it in a variety of configurations. Endowing robots with this ability of imitating humans from third person is a very…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…

Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge…