相关论文: Data-Efficient Learning from Human Interventions f…

We develop a simple framework to learn bio-inspired foraging policies using human data. We conduct an experiment where humans are virtually immersed in an open field foraging environment and are trained to collect the highest amount of…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Reinforcement learning is a powerful framework for robots to acquire skills from experience, but often requires a substantial amount of online data collection. As a result, it is difficult to collect sufficiently diverse experiences that…

This paper presents a novel learning-based approach to dynamic robot-to-human handover, addressing the challenges of delivering objects to a moving receiver. We hypothesize that dynamic handover, where the robot adjusts to the receiver's…

Training a robot that engages with people is challenging; it is expensive to directly involve people in the training process, which requires numerous data samples. This paper presents an alternative approach for resolving this problem. We…

Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making classical control challenging. Deep…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

In this study, we show that a movement policy can be improved efficiently using the previous experiences of a real robot. Reinforcement Learning (RL) is becoming a popular approach to acquire a nonlinear optimal policy through trial and…

Humans are spectacular reinforcement learners, constantly learning from and adjusting to experience and feedback. Unfortunately, this doesn't necessarily mean humans are fast learners. When tasks are challenging, learning can become…

Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish tasks that are hard for…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…