相关论文: Beyond Predefined Actions: Integrating Behavior Tr…

In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned…

In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…

Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…

Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea,…

Behavior Trees (BTs) were first conceived in the computer games industry as a tool to model agent behavior, but they received interest also in the robotics community as an alternative policy design to Finite State Machines (FSMs). The…

Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…

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…

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

Behavior Trees (BTs) provide a structured and reactive framework for decision-making, commonly used to switch between sub-controllers based on environmental conditions. Reinforcement Learning (RL), on the other hand, can learn near-optimal…

Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications.…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy…