相关论文: Augmented Reality Demonstrations for Scalable Robo…

This research seeks to explore how Augmented Reality (AR) can support learning psychomotor tasks that involve complex manipulation and reasoning processes. The AR prototype was created using Unity and used on HoloLens 2 headsets. Here, we…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Imitation learning (IL) enables robots to acquire human-like motion skills from demonstrations, but it still requires extensive high-quality data and retraining to handle complex or long-horizon tasks. To improve data efficiency and…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

We present a large-scale study of imitating human demonstrations on tasks that require a virtual robot to search for objects in new environments -- (1) ObjectGoal Navigation (e.g. 'find & go to a chair') and (2) Pick&Place (e.g. 'find mug,…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…