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09/08/2023
Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models
Natural-language dialog is key for intuitive human-robot interaction. It...
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08/27/2023
Uncertainty-aware Risk Assessment of Robotic Systems via Importance Sampling
In this paper, we introduce a probabilistic approach to risk assessment ...
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07/28/2023
On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds
The generation of energy-efficient and dynamic-aware robot motions that ...
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05/16/2023
Interactive and Incremental Learning of Spatial Object Relations from Human Demonstrations
Humans use semantic concepts such as spatial relations between objects t...
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10/18/2022
Virtual Reality via Object Poses and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities
This article presents a novel telepresence system for advancing aerial m...
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10/04/2022
Bringing robotics taxonomies to continuous domains via GPLVM on hyperbolic manifolds
Robotic taxonomies have appeared as high-level hierarchical abstractions...
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09/30/2022
Riemannian geometry as a unifying theory for robot motion learning and control
Riemannian geometry is a mathematical field which has been the cornersto...
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09/07/2022
K-VIL: Keypoints-based Visual Imitation Learning
Visual imitation learning provides efficient and intuitive solutions for...
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08/22/2022
SpeedFolding: Learning Efficient Bimanual Folding of Garments
Folding garments reliably and efficiently is a long standing challenge i...
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08/02/2022
A Riemannian Take on Human Motion Analysis and Retargeting
Dynamic motions of humans and robots are widely driven by posture-depend...
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07/06/2022
Deep Learning Approaches to Grasp Synthesis: A Review
Grasping is the process of picking an object by applying forces and torq...
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06/05/2022
Conceptual Design of the Memory System of the Robot Cognitive Architecture ArmarX
We consider the memory system as a key component of any technical cognit...
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06/01/2022
Learning to Sequence and Blend Robot Skills via Differentiable Optimization
In contrast to humans and animals who naturally execute seamless motions...
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11/02/2021
Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels
Bayesian optimization is a data-efficient technique which can be used fo...
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03/04/2021
Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects
Capturing scene dynamics and predicting the future scene state is challe...
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02/24/2021
Learning to Shift Attention for Motion Generation
One challenge of motion generation using robot learning from demonstrati...
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02/03/2021
Object and Relation Centric Representations for Push Effect Prediction
Pushing is an essential non-prehensile manipulation skill used for tasks...
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10/16/2020
Uncertainty-aware Contact-safe Model-based Reinforcement Learning
This paper presents contact-safe Model-based Reinforcement Learning (MBR...
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06/05/2020
A Soft Humanoid Hand with In-Finger Visual Perception
We present a novel underactued humanoid five finger soft hand, the KIT ,...
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05/01/2020
Learning Compliance Adaptation in Contact-Rich Manipulation
Compliant robot behavior is crucial for the realization of contact-rich ...
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09/09/2019
Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases
Endowing robots with human-like physical reasoning abilities remains cha...
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08/22/2019
Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks
Recognising human actions is a vital task for a humanoid robot, especial...
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07/21/2019
Noise Regularization for Conditional Density Estimation
Modelling statistical relationships beyond the conditional mean is cruci...
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10/16/2018
ProMP: Proximal Meta-Policy Search
Credit assignment in Meta-reinforcement learning (Meta-RL) is still poor...
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09/30/2018
A Framework for Evaluating Motion Segmentation Algorithms
There have been many proposals for algorithms segmenting human whole-bod...
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09/14/2018
Model-Based Reinforcement Learning via Meta-Policy Optimization
Model-based reinforcement learning approaches carry the promise of being...
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07/02/2018
Introducing the Simulated Flying Shapes and Simulated Planar Manipulator Datasets
We release two artificial datasets, Simulated Flying Shapes and Simulate...
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01/12/2018
Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution
We present a novel deep neural network architecture for representing rob...
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10/06/2017
Planning High-Quality Grasps using Mean Curvature Object Skeletons
In this work, we present a grasp planner which integrates two sources of...
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06/06/2017
Parameter Space Noise for Exploration
Deep reinforcement learning (RL) methods generally engage in exploratory...
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05/18/2017
Learning a bidirectional mapping between human whole-body motion and natural language using deep recurrent neural networks
Linking human whole-body motion and natural language is of great interes...
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07/13/2016
The KIT Motion-Language Dataset
Linking human motion and natural language is of great interest for the g...
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05/12/2014