相关论文: Augmented Reality Demonstrations for Scalable Robo…

Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…

Bipedal robots do not perform well as humans since they do not learn to walk like we do. In this paper we propose a method to train a bipedal robot to perform some basic movements with the help of imitation learning (IL) in which an…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

In human-robot collaboration domains, augmented reality (AR) technologies have enabled people to visualize the state of robots. Current AR-based visualization policies are designed manually, which requires a lot of human efforts and domain…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

As one of the prevalent methods to achieve automation systems, Imitation Learning (IL) presents a promising performance in a wide range of domains. However, despite the considerable improvement in policy performance, the corresponding…

Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains…

Robotic assistive feeding holds significant promise for improving the quality of life for individuals with eating disabilities. However, acquiring diverse food items under varying conditions and generalizing to unseen food presents unique…

Imitation learning (IL) algorithms typically distill experience into parametric behavior policies to mimic expert demonstrations. However, with limited demonstrations, existing methods often struggle to generate accurate actions,…

Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…