相关论文: Arc-Length-Based Warping for Robot Skill Synthesis…

Spatio-temporal convolution often fails to learn motion dynamics in videos and thus an effective motion representation is required for video understanding in the wild. In this paper, we propose a rich and robust motion representation based…

Multi-object tracking (MOT) in computer vision remains a significant challenge, requiring precise localization and continuous tracking of multiple objects in video sequences. The emergence of data sets that emphasize robust…

Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to…

We study the problem of learning a mixture of multiple linear dynamical systems (LDSs) from unlabeled short sample trajectories, each generated by one of the LDS models. Despite the wide applicability of mixture models for time-series data,…

In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…

Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for…

Robust robotic task execution hinges on the reliable detection of execution failures in order to trigger safe operation modes, recovery strategies, or task replanning. However, many failure detection methods struggle to provide meaningful…

Continuous action recognition is more challenging than isolated recognition because classification and segmentation must be simultaneously carried out. We build on the well known dynamic time warping (DTW) framework and devise a novel…

With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key problem is to generate leg trajectories for continuously…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…

There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…