相关论文: Using Implicit Behavior Cloning and Dynamic Moveme…

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…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…

This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of…

In sequential decision-making environments, the primary approaches for training agents are Reinforcement Learning (RL) and Imitation Learning (IL). Unlike RL, which relies on modeling a reward function, IL leverages expert demonstrations,…

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language…

This study introduces a novel approach to autonomous motion planning, informing an analytical algorithm with a reinforcement learning (RL) agent within a Frenet coordinate system. The combination directly addresses the challenges of…

The past decade has seen the rapid development of Reinforcement Learning, which acquires impressive performance with numerous training resources. However, one of the greatest challenges in RL is generalization efficiency (i.e.,…

In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as motion washout,…

Deep reinforcement learning (DRL) has had success across various domains, but applying it to environments with constraints remains challenging due to poor sample efficiency and slow convergence. Recent literature explored incorporating…

Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…

State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of policy networks and planning. Hybrid approaches that combine…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Recent advances in imitative reinforcement learning (IRL) have considerably enhanced the ability of autonomous agents to assimilate expert demonstrations, leading to rapid skill acquisition in a range of demanding tasks. However, such…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…