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09/20/2023
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
In recent years, advanced model-based and data-driven control methods ar...
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09/14/2023
Imitation Learning-based Visual Servoing for Tracking Moving Objects
In everyday life collaboration tasks between human operators and robots,...
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07/18/2023
A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems
In this paper, we present a controller that combines motion generation a...
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05/12/2023
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Safety is often the most important requirement in robotics applications....
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02/10/2023
Antifragile Control Systems: The case of mobile robot trajectory tracking in the presence of uncertainty
Mobile robots are ubiquitous. Such vehicles benefit from well-designed a...
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12/16/2022
Learning and Extrapolation of Robotic Skills using Task-Parameterized Equation Learner Networks
Imitation learning approaches achieve good generalization within the ran...
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11/09/2022
Affordance detection with Dynamic-Tree Capsule Networks
Affordance detection from visual input is a fundamental step in autonomo...
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10/27/2022
Learning Deep Robotic Skills on Riemannian manifolds
In this paper, we propose RiemannianFlow, a deep generative model that a...
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10/14/2022
Geometric Reinforcement Learning: The Case of Cartesian Space Orientation
Reinforcement learning (RL) enables an agent to learn by trial and error...
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08/28/2022
Learning Stable Robotic Skills on Riemannian Manifolds
In this paper, we propose an approach to learn stable dynamical systems ...
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06/08/2022
Action Noise in Off-Policy Deep Reinforcement Learning: Impact on Exploration and Performance
Many deep reinforcement learning algorithms rely on simple forms of expl...
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04/12/2022
Learning Stable Dynamical Systems for Visual Servoing
This work presents the dual benefit of integrating imitation learning te...
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03/07/2022
A Unified Formulation of Geometry-aware Dynamic Movement Primitives
Learning from demonstration (LfD) is considered as an efficient way to t...
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02/14/2022
Continual Learning from Demonstration of Robotic Skills
Methods for teaching motion skills to robots focus on training for a sin...
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10/20/2021
Periodic DMP formulation for Quaternion Trajectories
Imitation learning techniques have been used as a way to transfer skills...
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06/11/2021
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
This paper presents an approach to deal with safety of dynamical systems...
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03/17/2021
Learning Descriptor of Constrained Task from Demonstration
Constrained objects, such as doors and drawers are often complex and sha...
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02/07/2021
Dynamic Movement Primitives in Robotics: A Tutorial Survey
Biological systems, including human beings, have the innate ability to p...
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10/29/2020
How do Offline Measures for Exploration in Reinforcement Learning behave?
Sufficient exploration is paramount for the success of a reinforcement l...
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10/24/2020
Improving the Exploration of Deep Reinforcement Learning in Continuous Domains using Planning for Policy Search
Local policy search is performed by most Deep Reinforcement Learning (D-...
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10/13/2020
Variable impedance control and learning – A review
Robots that physically interact with their surroundings, in order to acc...
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07/21/2020
Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features
Behavior Trees constitute a widespread AI tool which has been successful...
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03/26/2020
Incremental Skill Learning of Stable Dynamical Systems
Efficient skill acquisition, representation, and on-line adaptation to d...
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03/25/2020
Merging Position and Orientation Motion Primitives
In this paper, we focus on generating complex robotic trajectories by me...
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03/25/2020
Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems
Stable dynamical systems are a flexible tool to plan robotic motions in ...
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03/25/2020
An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems
Non-linear dynamical systems represent a compact, flexible, and robust t...
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11/20/2019
A Human Action Descriptor Based on Motion Coordination
In this paper, we present a descriptor for human whole-body actions base...
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11/20/2019