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

Meta-learning, the notion of learning to learn, enables learning systems to quickly and flexibly solve new tasks. This usually involves defining a set of outer-loop meta-parameters that are then used to update a set of inner-loop…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Incremental learning enables artificial agents to learn from sequential data. While important progress was made by exploiting deep neural networks, incremental learning remains very challenging. This is particularly the case when no memory…

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…

The task of assessing movement quality has recently gained high demand in a variety of domains. The ability to automatically assess subject movement in videos that were captured by affordable devices, such as Kinect cameras, is essential…

We present a novel method enabling robots to quickly learn to manipulate objects by leveraging a motion planner to generate "expert" training trajectories from a small amount of human-labeled data. In contrast to the traditional…

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…

This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…

Learning models of dynamical systems with external inputs, which may be, for example, nonsmooth or piecewise, is crucial for studying complex phenomena and predicting future state evolution, which is essential for applications such as…

Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot demonstrate at high speed, and naively accelerating…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

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…

Neural ordinary differential equations (NODEs) have been proven useful for learning non-linear dynamics of arbitrary trajectories. However, current NODE methods capture variations across trajectories only via the initial state value or by…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must be bootstrapped using a good skill policy obtained from human demonstration. However, relying on human demonstration necessarily…

We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and efficient task-specific trajectories. This framework is…

Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…