相关论文: Learning Task Specifications from Demonstrations a…

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…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

In the learning from demonstration (LfD) paradigm, understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions…

Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching…

Programming by demonstration (PbD) is an effective technique for developing complex robot manipulation tasks, such as opening bottles or using human tools. In order for such tasks to generalize to new scenes, the robot needs to be able to…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Robots learning a new manipulation task from a small amount of demonstrations are increasingly demanded in different workspaces. A classifier model assessing the quality of actions can predict the successful completion of a task, which can…

To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…

Learning-from-demonstrations is an emerging paradigm to obtain effective robot control policies for complex tasks via reinforcement learning without the need to explicitly design reward functions. However, it is susceptible to imperfections…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

We propose deterministic timed automata (DTA) as a model-independent language for specifying performance and dependability measures over continuous-time stochastic processes. Technically, these measures are defined as limit frequencies of…

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

Constrained objects, such as doors and drawers are often complex and share a similar structure in the human environment. A robot needs to interact accurately with constrained objects to safely and successfully complete a task. Learning from…

We present an algorithm for regular expression parsing and submatch extraction based on tagged deterministic finite automata. The algorithm works with different disambiguation policies. We give detailed pseudocode for the algorithm,…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

When learning skills from demonstrations, one is often required to think in advance about the appropriate task representation (usually in either operational or configuration space). We here propose a probabilistic approach for…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…