相关论文: From Movement Primitives to Distance Fields to Dyn…

This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…

We introduce a simple framework for learning aggressive maneuvers in flight control of UAVs. Having inspired from biological environment, dynamic movement primitives are analyzed and extended using nonlinear contraction theory. Accordingly,…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns…

Current approaches to video analysis of human motion focus on raw pixels or keypoints as the basic units of reasoning. We posit that adding higher-level motion primitives, which can capture natural coarser units of motion such as backswing…

The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…

Agile robotics presents a difficult challenge with robots moving at high speeds requiring precise and low-latency sensing and control. Creating agile motion that accomplishes the task at hand while being safe to execute is a key requirement…

Movement generation, and especially generalisation to unseen situations, plays an important role in robotics. Different types of movement generation methods exist such as spline based methods, dynamical system based methods, and methods…

Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

Within the context of trajectory planning for autonomous vehicles this paper proposes methods for efficient encoding of motion primitives in neural networks on top of model-based and gradient-free reinforcement learning. It is distinguished…

Discontinuous motion which is a motion composed of multiple continuous motions with sudden change in direction or velocity in between, can be seen in state-aware robotic tasks. Such robotic tasks are often coordinated with sensor…

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…

We propose a new representation of human body motion which encodes a full motion in a sequence of latent motion primitives. Recently, task generic motion priors have been introduced and propose a coherent representation of human motion…