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07/11/2023
Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning
In this paper, we propose to estimate the forward dynamics equations of ...
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06/27/2023
Style-transfer based Speech and Audio-visual Scene Understanding for Robot Action Sequence Acquisition from Videos
To realize human-robot collaboration, robots need to execute actions for...
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05/04/2023
Learning Generalizable Pivoting Skills
The skill of pivoting an object with a robotic system is challenging for...
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03/06/2023
Simultaneous Tactile Estimation and Control of Extrinsic Contact
We propose a method that simultaneously estimates and controls extrinsic...
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01/30/2023
Learning Control from Raw Position Measurements
We propose a Model-Based Reinforcement Learning (MBRL) algorithm named V...
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12/02/2022
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Robots have been steadily increasing their presence in our daily lives, ...
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10/23/2022
Active Exploration for Robotic Manipulation
Robotic manipulation stands as a largely unsolved problem despite signif...
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09/28/2022
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Dynamic movement primitives are widely used for learning skills which ca...
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04/22/2022
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Insertion operations are a critical element of most robotic assembly ope...
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03/22/2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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03/18/2022
PYROBOCOP: Python-based Robotic Control Optimization Package for Manipulation
PYROBOCOP is a Python-based package for control, optimization and estima...
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03/05/2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
This paper presents a chance-constrained formulation for robust trajecto...
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11/20/2021
Imitation and Supervised Learning of Compliance for Robotic Assembly
We present the design of a learning-based compliance controller for asse...
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06/06/2021
PYROBOCOP : Python-based Robotic Control Optimization Package for Manipulation and Collision Avoidance
PYROBOCOP is a lightweight Python-based package for control and optimiza...
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06/02/2021
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units
This paper presents a novel trajectory optimization formulation to solve...
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04/26/2021
Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models
In this paper, we consider the use of black-box Gaussian process (GP) mo...
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04/02/2021
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Object insertion is a classic contact-rich manipulation task. The task r...
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01/28/2021
Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application
In this paper, we present a Model-Based Reinforcement Learning algorithm...
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01/21/2021
Model-based Policy Search for Partially Measurable Systems
In this paper, we propose a Model-Based Reinforcement Learning (MBRL) al...
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11/14/2020
Towards Human-Level Learning of Complex Physical Puzzles
Humans quickly solve tasks in novel systems with complex dynamics, witho...
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07/22/2020
Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks
One of the main challenges in peg-in-a-hole (PiH) insertion tasks is in ...
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02/25/2020
Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements
In this paper, we propose a derivative-free model learning framework for...
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01/22/2020
Local Policy Optimization for Trajectory-Centric Reinforcement Learning
The goal of this paper is to present a method for simultaneous trajector...
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12/26/2019
Quasi-Newton Trust Region Policy Optimization
We propose a trust region method for policy optimization that employs Qu...
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10/23/2019
Learning Deep Parameterized Skills from Demonstration for Re-targetable Visuomotor Control
Robots need to learn skills that can not only generalize across similar ...
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09/13/2018
Derivative-free online learning of inverse dynamics models
This paper discusses online algorithms for inverse dynamics modelling in...
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09/13/2018
Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze
This paper presents a problem of model learning for the purpose of learn...
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09/13/2018
Learning Hybrid Models to Control a Ball in a Circular Maze
This paper presents a problem of model learning to navigate a ball to a ...
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09/13/2018
Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics
Learning robot tasks or controllers using deep reinforcement learning ha...
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03/17/2016
Online semi-parametric learning for inverse dynamics modeling
This paper presents a semi-parametric algorithm for online learning of a...
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01/17/2016
On-line Bayesian System Identification
We consider an on-line system identification setting, in which new data ...
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07/02/2015