相关论文: Learning Task Specifications from Demonstrations a…

When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…

State-of-the-art reinforcement learning (RL) algorithms suffer from high sample complexity, particularly in the sparse reward case. A popular strategy for mitigating this problem is to learn control policies by imitating a set of expert…

Human input has enabled autonomous systems to improve their capabilities and achieve complex behaviors that are otherwise challenging to generate automatically. Recent work focuses on how robots can use such input - like demonstrations or…

Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…

Deterministic timed automata are strictly less expressive than their non-deterministic counterparts, which are again less expressive than those with silent transitions. As a consequence, timed automata are in general non-determinizable.…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Combined with demonstrations, deep reinforcement learning can efficiently develop policies for manipulators. However, it takes time to collect sufficient high-quality demonstrations in practice. And human demonstrations may be unsuitable…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularly in tasks such as transport that demand accuracy and…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…

Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…

We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a task function, which is learned using inverse reinforcement…

Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…

Learned construction heuristics for scheduling problems have become increasingly competitive with established solvers and heuristics in recent years. In particular, significant improvements have been observed in solution approaches using…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

We examine the problem of determining demonstration sufficiency: how can a robot self-assess whether it has received enough demonstrations from an expert to ensure a desired level of performance? To address this problem, we propose a novel…

Checklists have been widely recognized as effective tools for completing complex tasks in a systematic manner. Although originally intended for use in procedural tasks, their interpretability and ease of use have led to their adoption for…

Many approaches to robot learning begin by inferring a reward function from a set of human demonstrations. To learn a good reward, it is necessary to determine which features of the environment are relevant before determining how these…