相关论文: Imitation Learning with Additional Constraints on …

This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment.…

Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…

Acquiring physically plausible motor skills across diverse and unconventional morphologies-including humanoid robots, quadrupeds, and animals-is essential for advancing character simulation and robotics. Traditional methods, such as…

While it is relatively easier to train humanoid robots to mimic specific locomotion skills, it is more challenging to learn from various motions and adhere to continuously changing commands. These robots must accurately track motion…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…

Imitation from observation is the framework of learning tasks by observing demonstrated state-only trajectories. Recently, adversarial approaches have achieved significant performance improvements over other methods for imitating complex…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Rapid progress in deep reinforcement learning has made it increasingly feasible to train controllers for high-dimensional humanoid bodies. However, methods that use pure reinforcement learning with simple reward functions tend to produce…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…

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…

A common strategy in modern learning systems is to learn a representation that is useful for many tasks, a.k.a. representation learning. We study this strategy in the imitation learning setting for Markov decision processes (MDPs) where…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…

Imitation learning methods are used to infer a policy in a Markov decision process from a dataset of expert demonstrations by minimizing a divergence measure between the empirical state occupancy measures of the expert and the policy. The…

Learning to interact with the environment not only empowers the agent with manipulation capability but also generates information to facilitate building of action understanding and imitation capabilities. This seems to be a strategy adopted…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…