12 papers · 1 filter
Learning to Forget -- Hierarchical Episodic Memory for Lifelong Robot Deployment
Leonard Bärmann, Joana Plewnia, Alex Waibel +1
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous…
Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
Christian Dreher, Patrick Dormanns, Andre Meixner +1
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur an…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration
Marta Lagomarsino, Elena Merlo, Andrea Pupa +5
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to…
Taxonomy-aware Dynamic Motion Generation on Hyperbolic Manifolds
Luis Augenstein, Noémie Jaquier, Tamim Asfour +1
Human-like motion generation for robots often draws inspiration from biomechanical studies, which often categorize complex human motions into hierarchical taxonomies. While these t…
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…