881 citations · 1.6k across the 66 of their papers we have counts for
13 papers · 1 filter
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Imitating by generating: deep generative models for imitation of interactive tasks
Judith Bütepage, Ali Ghadirzadeh, Özge Öztimur Karadag +2
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitati…
Learning Task-Oriented Grasping from Human Activity Datasets
Mia Kokic, Danica Kragic, Jeannette Bohg
We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a han…
Data-efficient Model Learning and Prediction for Contact-rich Manipulation Tasks
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are…
Fast Adaptation with Meta-Reinforcement Learning for Trust Modelling in Human-Robot Interaction
Yuan Gao, Elena Sibirtseva, Ginevra Castellano +1
In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based…
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
Rika Antonova, Akshara Rai, Tianyu Li +1
Data-efficiency is crucial for autonomous robots to adapt to new tasks and environments. In this work we focus on robotics problems with a budget of only 10-20 trials. This is a ve…