相关论文: JUICER: Data-Efficient Imitation Learning for Robo…

Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

Data augmentation improves the generalization power of deep learning models by synthesizing more training samples. Sample-mixing is a popular data augmentation approach that creates additional data by combining existing samples. Recent…

Imitation learning is a well-established approach for machine-learning-based control. However, its applicability depends on having access to demonstrations, which are often expensive to collect and/or suboptimal for solving the task. In…

In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration. Compliant motions can be used in assembly…

Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…

As machine learning gets adopted into the industry quickly, trustworthiness is increasingly in focus. Yet, efficiency and sustainability of robust training pipelines still have to be established. In this work, we consider a simple pipeline…

Assemblies of modular subsystems are being pressed into service to perform sensing, reasoning, and decision making in high-stakes, time-critical tasks in such areas as transportation, healthcare, and industrial automation. We address the…

Data augmentation has been proven effective for training high-accuracy convolutional neural network classifiers by preventing overfitting. However, building deep neural networks in real-world scenarios requires not only high accuracy on…

Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

The goal of data selection is to capture the most structural information from a set of data. This paper presents a fast and accurate data selection method, in which the selected samples are optimized to span the subspace of all data. We…

Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose ReinforceGen, a system that combines task decomposition, data generation, imitation learning, and motion planning to form an initial…

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…

We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that…

Reducing a set of numbers to a single value is a fundamental operation in applications such as signal processing, data compression, scientific computing, and neural networks. Accumulation, which involves summing a dataset to obtain a single…

The aim of this study is to investigate an automated industrial manipulation pipeline, where assembly tasks can be flexibly adapted to production without the need for a robotic expert, both for the vision system and the robot program. The…