21 citations · 27 across the 30 of their papers we have counts for
23 papers · 1 filter
Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections
Zhaoting Li, Gang Chen, Javier Alonso-Mora +2
Diffusion policies have recently emerged as a powerful framework for robotic manipulation. However, like other behavior cloning methods, they remain vulnerable to distributional sh…
Studying the Effect of Explicit Interaction Representations on Learning Scene-level Distributions of Human Trajectories
Anna Mészáros, Javier Alonso-Mora, Jens Kober
Effectively capturing the joint distribution of all agents in a scene is relevant for predicting the true evolution of the scene and in turn providing more accurate information to…
Controllable Generative Trajectory Prediction via Weak Preference Alignment
Yongxi Cao, Julian F. Schumann, Jens Kober +2
Deep generative models such as conditional variational autoencoders (CVAEs) have shown great promise for predicting trajectories of surrounding agents in autonomous vehicle plannin…
Sequentially Teaching Sequential Tasks : Teaching Robots Long-horizon Manipulation Skills
Zlatan Ajanović, Ravi Prakash, Leandro de Souza Rosa +1
Learning from demonstration has proved itself useful for teaching robots complex skills with high sample efficiency. However, teaching long-horizon tasks with multiple skills is ch…
LLM-Guided Task- and Affordance-Level Exploration in Reinforcement Learning
Jelle Luijkx, Runyu Ma, Zlatan Ajanović +1
Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action…
Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks
Amin Berjaoui Tahmaz, Ravi Prakash, Jens Kober
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this…
Mode Collapse Happens: Evaluating Critical Interactions in Joint Trajectory Prediction Models
Maarten Hugenholtz, Anna Meszaros, Jens Kober +1
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer…
Active inference as a unified model of collision avoidance behavior in human drivers
Julian F. Schumann, Johan Engström, Leif Johnson +4
Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of hu…
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Jiatao Ding, Peiyu Yang, Fabio Boekel +4
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enh…
MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
Giovanni Franzese, Max Spahn, Jens Kober +1
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model…
Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
Georgios Apostolides, Wei Pan, Jens Kober +2
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this c…
Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation
Anish Abhijit Diwan, Julen Urain, Jens Kober +1
This paper introduces a new imitation learning framework based on energy-based generative models capable of learning complex, physics-dependent, robot motion policies through state…
From Action Labels to Sets: Rethinking Action Supervision for Imitation Learning from Corrective Feedback
Zhaoting Li, Rodrigo Pérez-Dattari, Robert Babuska +2
Behavior cloning (BC) optimizes policies by treating human demonstrations as pointwise action labels. While effective with accurate action labels, this formulation is brittle in pr…
Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
Mariano Ramírez Montero, Ebrahim Shahabi, Giovanni Franzese +3
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, bu…
Task-agnostic Lifelong Robot Learning with Retrieval-based Weighted Local Adaptation
Pengzhi Yang, Xinyu Wang, Ruipeng Zhang +3
A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new…
Learning Adaptive Hydrodynamic Models Using Neural ODEs in Complex Conditions
Cong Wang, Aoming Liang, Fei Han +4
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presen…
ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input
Petr Vanc, Giovanni Franzese, Jan Kristof Behrens +4
Learning from demonstration is a promising approach for teaching robots new skills. However, a central challenge in the execution of acquired skills is the ability to recognize fau…
Scalable Task Planning via Large Language Models and Structured World Representations
Rodrigo Pérez-Dattari, Zhaoting Li, Robert Babuška +2
Planning methods struggle with computational intractability in solving task-level problems in large-scale environments. This work explores leveraging the commonsense knowledge enco…
EAGERx: Graph-Based Framework for Sim2real Robot Learning
Bas van der Heijden, Jelle Luijkx, Laura Ferranti +2
Sim2real, that is, the transfer of learned control policies from simulation to real world, is an area of growing interest in robotics due to its potential to efficiently handle com…
Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps
Giovanni Franzese, Ravi Prakash, Cosimo Della Santina +1
Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, d…
ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models
Runyu Ma, Jelle Luijkx, Zlatan Ajanovic +1
In robot manipulation, Reinforcement Learning (RL) often suffers from low sample efficiency and uncertain convergence, especially in large observation and action spaces. Foundation…
RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions
Khaled A. Mustafa, Daniel Jarne Ornia, Jens Kober +1
For an autonomous vehicle to operate reliably within real-world traffic scenarios, it is imperative to assess the repercussions of its prospective actions by anticipating the uncer…
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Vassil Atanassov, Jiatao Ding, Jens Kober +2
Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually…