From the 1 of 5 linked papers with an AI index.
5 papers
Learning Forward & Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks
Yexin Hu, Haoyi Zheng, Johannes Heidersberger +1
The paper introduces a one‑shot learning framework that extracts forward and reverse manipulation skills from a single, possibly incomplete demonstration by segmenting motions into…
Monocular Vision Based Control Framework for Grasping
Shail Jadav, Dongheui Lee
Grasping in unstructured environments requires handling objects with widely different mechanical properties, from soft and deformable items to rigid everyday objects. Most existing…
LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations
Johannes Heidersberger, Shail Jadav, Dongheui Lee
Learning from Demonstration (LfD) enables intuitive robot skill acquisition by allowing robots to learn directly from human task demonstrations. However, current methods often fail…
Input-Output Feedback Linearization Preserving Task Priority for Multivariate Nonlinear Systems Having Singular Input Gain Matrix
Sang-ik An, Dongheui Lee, Gyunghoon Park
We propose an extension of the input-output feedback linearization for a class of multivariate systems that are not input-output linearizable in a classical manner. The key observa…
ConditionNET: Learning Preconditions and Effects for Execution Monitoring
Daniel Sliwowski, Dongheui Lee
The introduction of robots into everyday scenarios necessitates algorithms capable of monitoring the execution of tasks. In this paper, we propose ConditionNET, an approach for lea…