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

Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

While reinforcement learning (RL) has achieved great success in acquiring complex skills solely from environmental interactions, it assumes that resets to the initial state are readily available at the end of each episode. Such an…

Behavior Cloning (BC) is a widely adopted visual imitation learning method in robot manipulation. Current BC approaches often enhance generalization by leveraging large datasets and incorporating additional visual and textual modalities to…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

We show that iterative deployment of large language models (LLMs), each fine-tuned on data carefully curated by users from the previous models' deployment, can significantly change the properties of the resultant models. By testing this…

To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). In this paper, we…

Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this paper, we propose a novel multi-model motion planning pipeline,…

Automated planning algorithms require an action model specifying the preconditions and effects of each action, but obtaining such a model is often hard. Learning action models from observations is feasible, but existing algorithms for…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…

Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven effective in transferring complex motion patterns from…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Motion cueing algorithms (MCA) are used to control the movement of motion simulation platforms (MSP) to reproduce the motion perception of a real vehicle driver as accurately as possible without exceeding the limits of the workspace of the…