7 papers
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
Max Muchen Sun, Cem Bilaloglu, Ananya Rao +6
Diffusion learning leverages the statistical mechanism of diffusion processes for learning, reasoning, and inferring complex distributions from data. Recent advances in diffusion l…
Ergodic Imitation for Adaptive Exploration around Demonstrations
Ziyi Xu, Cem Bilaloglu, Yiming Li +1
In robotics, a common challenge in imitation learning is the mismatch between training and deployment conditions, caused, for example, by environmental changes or imperfect observa…
Object-centric Task Representation and Transfer using Diffused Orientation Fields
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant direction…
Cooperative Task Spaces for Multi-Arm Manipulation Control based on Similarity Transformations
Tobias Löw, Cem Bilaloglu, Sylvain Calinon
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to ena…
Diffusion-based Virtual Fixtures
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surf…
Tactile Ergodic Coverage on Curved Surfaces
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continu…
Whole-Body Ergodic Exploration with a Manipulator Using Diffusion
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consis…