相关论文: The Art of Imitation: Learning Long-Horizon Manipu…

Programming a robot manipulator should be as intuitive as possible. To achieve that, the paradigm of teaching motion skills by providing few demonstrations has become widely popular in recent years. Probabilistic versions thereof take into…

Programming by demonstration has recently gained much attention due to its user-friendly and natural way to transfer human skills to robots. In order to facilitate the learning of multiple demonstrations and meanwhile generalize to new…

Bimanual operations in humanoids offer the possibility to carry out more than one manipulation task at the same time, which in turn introduces the problem of task prioritization. We address this problem from a learning from demonstration…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…

A core challenge for an autonomous agent acting in the real world is to adapt its repertoire of skills to cope with its noisy perception and dynamics. To scale learning of skills to long-horizon tasks, robots should be able to learn and…

Generalizing robot trajectories from human demonstrations to new contexts remains a key challenge in Learning from Demonstration (LfD), particularly when only single-context demonstrations are available. We present a novel Gaussian Mixture…

Learning from Demonstration depends on a robot learner generalising its learned model to unseen conditions, as it is not feasible for a person to provide a demonstration set that accounts for all possible variations in non-trivial tasks.…

Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, they require extensive per-task engineering and…

Learning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher. One of the challenges of LfD is to enable robots to acquire…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…

Unsupervised learning has been widely used in many real-world applications. One of the simplest and most important unsupervised learning models is the Gaussian mixture model (GMM). In this work, we study the multi-task learning problem on…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Recovering physical properties of objects in motion is a core task across scientific and industrial applications. When the relative motion between the object and the sensing apparatus provides sufficient angular coverage, Computerized…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…