相关论文: Learning Task Specifications from Demonstrations a…

Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…

Automata over infinite words, also known as omega-automata, play a key role in the verification and synthesis of reactive systems. The spectrum of omega-automata is defined by two characteristics: the acceptance condition (e.g. B\"uchi or…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

Experience-based planning domains (EBPDs) have been recently proposed to improve problem solving by learning from experience. EBPDs provide important concepts for long-term learning and planning in robotics. They rely on acquiring and using…

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,…

Data-efficient learning algorithms are essential in many practical applications where data collection is expensive, e.g., in robotics due to the wear and tear. To address this problem, meta-learning algorithms use prior experience about…

Large language models (LLMs) often benefit from verbalized reasoning at inference time, but it remains unclear which aspects of task difficulty these extra reasoning tokens address. To investigate this question, we formalize a framework…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

Automata over infinite alphabets have emerged as a convenient computational model for processing structures involving data, such as nonces in cryptographic protocols or data values in XML documents. We introduce active learning methods for…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

The increasing level of autonomy of robots poses challenges of trust and social acceptance, especially in human-robot interaction scenarios. This requires an interpretable implementation of robotic cognitive capabilities, possibly based on…

This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of…

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…

Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…

Learning from Demonstration (LfD) systems are commonly used to teach robots new tasks by generating a set of skills from user-provided demonstrations. These skills can then be sequenced by planning algorithms to execute complex tasks.…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…

Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…

Recent progress in deterministic prompt learning has become a promising alternative to various downstream vision tasks, enabling models to learn powerful visual representations with the help of pre-trained vision-language models. However,…