相关论文: Feasibility-aware Imitation Learning from Observat…

Imitation from observation is a computational technique that teaches an agent on how to mimic the behavior of an expert by observing only the sequence of states from the expert demonstrations. Recent approaches learn the inverse dynamics of…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…

Reinforcement learning in partially observable domains is challenging due to the lack of observable state information. Thankfully, learning offline in a simulator with such state information is often possible. In particular, we propose a…

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…

We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

We present Confidence-Based Autonomy (CBA), an interactive algorithm for policy learning from demonstration. The CBA algorithm consists of two components which take advantage of the complimentary abilities of humans and computer agents. The…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Learning from Observations (LfO) is a practical reinforcement learning scenario from which many applications can benefit through the reuse of incomplete resources. Compared to conventional imitation learning (IL), LfO is more challenging…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both…

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

This paper proposes FABG (Facial Affective Behavior Generation), an end-to-end imitation learning system for human-robot interaction, designed to generate natural and fluid facial affective behaviors. In interaction, effectively obtaining…