相关论文: EVE: Enabling Anyone to Train Robots using Augment…

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

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…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…

Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning. Evaluations are critical to assess progress and build better policies, but evaluation in the real world, especially at a scale that would…

Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…

Previous methods for Learning from Demonstration leverage several approaches for a human to teach motions to a robot, including teleoperation, kinesthetic teaching, and natural demonstrations. However, little previous work has explored more…

Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…

Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge…

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…

To fill the lack of research efforts in virtual assembly of modules and training, this paper presents a virtual manipulation of building objects in an Immersive Virtual Environment (IVE). A worker wearing a Virtual Reality (VR) head-mounted…

We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…

Mobile robots are essential in applications such as autonomous delivery and hospitality services. Applying learning-based methods to address mobile robot tasks has gained popularity due to its robustness and generalizability. Traditional…

We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub simulators (iCub SIM, iCub Gazebo), which require C++…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

Verifying whether the machine unlearning process has been properly executed is critical but remains underexplored. Some existing approaches propose unlearning verification methods based on backdooring techniques. However, these methods…