相关论文: ILBiT: Imitation Learning for Robot Using Position…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

One unresolved issue is how to scale model-based inverse reinforcement learning (IRL) to actual robotic manipulation tasks with unpredictable dynamics. The ability to learn from both visual and proprioceptive examples, creating algorithms…

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

A method is presented to learn neural network (NN) controllers with stability and safety guarantees through imitation learning (IL). Convex stability and safety conditions are derived for linear time-invariant plant dynamics with NN…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

Underwater robotic manipulation remains challenging because lighting variation, color attenuation, scattering, and reduced visibility can severely degrade visuomotor policies. We present Bi-AQUA, the first underwater bilateral control-based…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…

We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…