相关论文: AI-MOLE: Autonomous Iterative Motion Learning for …

Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…

The paper introduces an interactive machine learning mechanism to process the measurements of an uncertain, nonlinear dynamic process and hence advise an actuation strategy in real-time. For concept demonstration, a trajectory-following…

Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of…

Iterative methods are ubiquitous in large-scale scientific computing applications, and a number of approaches based on meta-learning have been recently proposed to accelerate them. However, a systematic study of these approaches and how…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…

This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Pose and motion priors are crucial for recovering realistic and accurate human motion from noisy observations. Substantial progress has been made on pose and shape estimation from images, and recent works showed impressive results using…

The DIAlogue MOdel Learning Environment supports an engineering-oriented approach towards dialogue modelling for a spoken-language interface. Major steps towards dialogue models is to know about the basic units that are used to construct a…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

In this paper, we propose H-MoRe, a novel pipeline for learning precise human-centric motion representation. Our approach dynamically preserves relevant human motion while filtering out background movement. Notably, unlike previous methods…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

Complex and nonlinear dynamical systems often involve parameters that change with time, accurate tracking of which is essential to tasks such as state estimation, prediction, and control. Existing machine-learning methods require full state…

Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriously difficult. Existing data-driven approaches often fail to…