161 citations · 1k across the 77 of their papers we have counts for
7 papers · 1 filter
Safe-To-Explore State Spaces: Ensuring Safe Exploration in Policy Search with Hierarchical Task Optimization
Jens Lundell, Robert Krug, Erik Schaffernicht +2
Policy search reinforcement learning allows robots to acquire skills by themselves. However, the learning procedure is inherently unsafe as the robot has no a-priori way to predict…
Segmenting and Sequencing of Compliant Motions
Tesfamichael Marikos Hagos, Markku Suomalainen, Ville Kyrki
This paper proposes an approach for segmenting a task consisting of compliant motions into phases, learning a primitive for each segmented phase of the task, and reproducing the ta…
Learning from Demonstration for Hydraulic Manipulators
Markku Suomalainen, Janne Koivumäki, Santeri Lampinen +2
This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful…
Deep Network Uncertainty Maps for Indoor Navigation
Francesco Verdoja, Jens Lundell, Ville Kyrki
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full…
Imitating Human Search Strategies for Assembly
Dennis Ehlers, Markku Suomalainen, Jens Lundell +1
We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncert…
Imitation learning-based framework for learning 6-D linear compliant motions
Markku Suomalainen, Fares J. Abu-Dakka, Ville Kyrki
We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of…
Hallucinating robots: Inferring Obstacle Distances from Partial Laser Measurements
Jens Lundell, Francesco Verdoja, Ville Kyrki
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass p…