相关论文: Deep Generative Models in Robotics: A Survey on Le…

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…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Deep neural networks for graphs have emerged as a powerful tool for learning on complex non-euclidean data, which is becoming increasingly common for a variety of different applications. Yet, although their potential has been widely…

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,…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

Generative AI technologies have been deployed in many places, such as (multimodal) large language models and vision generative models. Their remarkable performance should be attributed to massive training data and emergent reasoning…

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging 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…

Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

The use of deep learning for database optimization has gained significant traction, offering improvements in indexing, cardinality estimation, and query optimization. However, acquiring high-quality training data remains a significant…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…