相关论文: Robot Control based on Motor Primitives -- A Compa…

Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…

Within the context of trajectory planning for autonomous vehicles this paper proposes methods for efficient encoding of motion primitives in neural networks on top of model-based and gradient-free reinforcement learning. It is distinguished…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…

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…

Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

Pneumatic muscle actuators (PMA) are easy-to-fabricate, lightweight, compliant, and have high power-to-weight ratio, thus making them the ideal actuation choice for many soft and continuum robots. But so far, limited work has been carried…

This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can…

Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…

Diffusion models are increasingly used for robot learning, but current designs face a clear trade-off. Action-chunking diffusion policies like ManiCM are fast to run, yet they only predict short segments of motion. This makes them reactive,…

The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…

In this work, we explore a novel framework for control of complex systems called Primitive Imitation for Control PICO. The approach combines ideas from imitation learning, task decomposition, and novel task sequencing to generalize from…

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We argue that these bottlenecks stem from the prevailing Direct…