相关论文: Variable-Speed Teaching-Playback as Real-World Dat…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

The generation of robot motions in the real world is difficult by using conventional controllers alone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However,…

Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

Data augmentation is a ubiquitous technique for improving image classification when labeled data is scarce. Constraining the model predictions to be invariant to diverse data augmentations effectively injects the desired representational…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

This work aims to improve unsupervised audio-visual pre-training. Inspired by the efficacy of data augmentation in visual contrastive learning, we propose a novel speed co-augmentation method that randomly changes the playback speeds of…

One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of…

Robotic motion generation methods using machine learning have been studied in recent years. Bilateral control-based imitation learning can imitate human motions using force information. By means of this method, variable speed motion…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

Data augmentation is commonly used to encode invariances in learning methods. However, this process is often performed in an inefficient manner, as artificial examples are created by applying a number of transformations to all points in the…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…

Autonomous robot manipulation is a complex and continuously evolving robotics field. This paper focuses on data augmentation methods in imitation learning. Imitation learning consists of three stages: data collection from experts, learning…