相关论文: Robot Learning Using Multi-Coordinate Elastic Maps

Robotic tasks often require motions with complex geometric structures. We present an approach to learn such motions from a limited number of human demonstrations by exploiting the regularity properties of human motions e.g. stability,…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Robots applied in therapeutic scenarios, for instance in the therapy of individuals with Autism Spectrum Disorder, are sometimes used for imitation learning activities in which a person needs to repeat motions by the robot. To simplify the…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

Reinforcement learning requires manual specification of a reward function to learn a task. While in principle this reward function only needs to specify the task goal, in practice reinforcement learning can be very time-consuming or even…

In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the underlying distribution of object properties necessary for…

With the advent of artificial intelligence and machine learning, humanoid robots are made to learn a variety of skills which humans possess. One of fundamental skills which humans use in day-to-day activities is performing tasks with…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Medical ultrasound has become a routine examination approach nowadays and is widely adopted for different medical applications, so it is desired to have a robotic ultrasound system to perform the ultrasound scanning autonomously. However,…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

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…

Several methods exist for teaching robots, with one of the most prominent being Learning from Demonstration (LfD). Many LfD representations can be formulated as constrained optimization problems. We propose a novel convex formulation of the…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…