47 citations · 103 across the 21 of their papers we have counts for
22 papers
TaPeR: Probabilistic Recovery of Sparse Task Precedence Graphs from a Handful of Demonstrations
Adrian Röfer, Karla Stepanova, Abhinav Valada
Long-horizon manipulation tasks are often only partially ordered. For example, when assembling an electronic device, the battery and circuit board may be installed in either order,…
Learning Transferable Motor Skills for Geometry-Aware Robotic Surface Tasks
Miroslav David, Karla Stepanova, Robert Babuska
Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate v…
How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching
Petr Vanc, Jan Kristof Behrens, Václav Hlaváč +1
Instructing robots from demonstrations can be done through different teaching modalities, each with different usability and performance trade-offs. This paper compares kinesthetic…
Learning Compositional Symbolic Task Rules from Demonstrations with Inductive Logic Programming
Oleh Borys, Karla Stepanova
Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become m…
See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming
Petr Vanc, Jan Kristof Behrens, Václav Hlaváč +1
Programming by demonstration (PbD) makes robot programming accessible to non-experts, but scaling it to real-world variability remains a challenge for current teaching frameworks,…
PRAG: Procedural Action Generator
Michal Vavrecka, Radoslav Skoviera, Gabriela Sejnova +1
We present a novel approach for the procedural construction of multi-step contact-rich manipulation tasks in robotics. Our generator takes as input user-defined sets of atomic acti…