相关论文: PRIMP: PRobabilistically-Informed Motion Primitive…

Placing robots outside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in…

A Probabilistic Movement Primitive (ProMP) defines a distribution over trajectories with an associated feedback policy. ProMPs are typically initialized from human demonstrations and achieve task generalization through probabilistic…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…

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…

We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…

Probabilistic Movement Primitives (ProMPs) are a widely used representation of movements for human-robot interaction. They also facilitate the factorization of temporal and spatial structure of movements. In this work we investigate a…

Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…

Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…

Learning complex robot motions necessarily demands to have models that are able to encode and retrieve full-pose trajectories when tasks are defined in operational spaces. Probabilistic movement primitives (ProMPs) stand out as a principled…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

Probabilistic representations of movement primitives open important new possibilities for machine learning in robotics. These representations are able to capture the variability of the demonstrations from a teacher as a probability…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

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…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network to estimate the reward of grasp primitives. In this work, we extend this approach…

Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for transferring skills to robots. It allows to implicitly learn…

Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…

Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the…