相关论文: A Framework for Learning and Reusing Robotic Skill…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

Learning from demonstration (LfD) provides a convenient means to equip robots with dexterous skills when demonstration can be obtained in robot intrinsic coordinates. However, the problem of compounding errors in long and complex skills…

Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…

Learning from demonstration is one of the most promising methods to counteract the challenging long-term trends in repetitive industrial assembly. It offers not only a programming technique that is accessible to workers on the shop floor,…

Robots need to learn behaviors in intuitive and practical ways for widespread deployment in human environments. To learn a robot behavior end-to-end, we train a variant of the ResNet that maps eye-in-hand camera images to end-effector…

This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

The problem of generalization in learning from demonstration (LfD) has received considerable attention over the years, particularly within the context of movement primitives, where a number of approaches have emerged. Recently, two…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD ) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demonstrations as elastic…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…