相关论文: Behavior Imitation for Manipulator Control and Gra…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

Video motion magnification techniques allow us to see small motions previously invisible to the naked eyes, such as those of vibrating airplane wings, or swaying buildings under the influence of the wind. Because the motion is small, the…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

Human motion prediction and understanding is a challenging problem. Due to the complex dynamic of human motion and the non-deterministic aspect of future prediction. We propose a novel sequence-to-sequence model for human motion prediction…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

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…

Imitation learning algorithms learn a policy from demonstrations of expert behavior. We show that, for deterministic experts, imitation learning can be done by reduction to reinforcement learning with a stationary reward. Our theoretical…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…