相关论文: Investigating Robot Control Policy Learning for Au…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot positions and camera viewpoints. This leads to poor…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…

Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steered vehicle architecture has served as a useful vehicle…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strategies for MBRs remains challenging due to their complex and…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…