相关论文: Auto-LfD: Towards Closing the Loop for Learning fr…

Like mammals, robots must rapidly learn to control their bodies and interact with their environment despite incomplete knowledge of their body structure and surroundings. They must also adapt to continuous changes in both. This work…

During the use of advanced driver assistance systems, drivers frequently intervene into the active driving function and adjust the system's behavior to their personal wishes. These active driver-initiated takeovers contain feedback about…

In this paper, we explore the potential of using a large language model (LLM) to understand the driving environment in a human-like manner and analyze its ability to reason, interpret, and memorize when facing complex scenarios. We argue…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

Cinematic camera control demands a balance of precision and artistry - qualities that are difficult to encode through handcrafted reward functions. While reinforcement learning (RL) has been applied to robotic filmmaking, its reliance on…

This paper presents a learning from demonstration approach to programming safe, autonomous behaviors for uncommon driving scenarios. Simulation is used to re-create a targeted driving situation, one containing a road-side hazard creating a…

Methods for learning from demonstration (LfD) have shown success in acquiring behavior policies by imitating a user. However, even for a single task, LfD may require numerous demonstrations. For versatile agents that must learn many tasks…

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…

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The…

Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great…

Several model-based and model-free methods have been proposed for the robot trajectory learning task. Both approaches have their benefits and drawbacks. They can usually complement each other. Many research works are trying to integrate…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

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…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…

Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…

This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex…