相关论文: Manipulate as Human: Learning Task-oriented Manipu…
In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…
In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…
Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…
Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can…
When transporting an object, we unconsciously adapt our movement to its properties, for instance by slowing down when the item is fragile. The most relevant features of an object are immediately revealed to a human observer by the way the…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
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…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
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…