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pro vyhledávání: '"Mehta, Shaunak A."'
Autor:
Mehta, Shaunak A., Ciftci, Yusuf Umut, Ramachandran, Balamurugan, Bansal, Somil, Losey, Dylan P.
Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits states where t
Externí odkaz:
http://arxiv.org/abs/2408.06246
Autor:
Keely, Maya, Kim, Yeunhee, Mehta, Shaunak A., Hoegerman, Joshua, Sanchez, Robert Ramirez, Paul, Emily, Mills, Camryn, Losey, Dylan P., Bartlett, Michael D.
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely rigid or p
Externí odkaz:
http://arxiv.org/abs/2404.13755
Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing approaches to rei
Externí odkaz:
http://arxiv.org/abs/2403.13281
Robots often need to learn the human's reward function online, during the current interaction. This real-time learning requires fast but approximate learning rules: when the human's behavior is noisy or suboptimal, current approximations can result i
Externí odkaz:
http://arxiv.org/abs/2308.09863
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy objects, they
Externí odkaz:
http://arxiv.org/abs/2210.15791
Autor:
Mehta, Shaunak A., Losey, Dylan P.
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single modality,
Externí odkaz:
http://arxiv.org/abs/2207.03395
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot becomes confid
Externí odkaz:
http://arxiv.org/abs/2205.09795
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled human either t
Externí odkaz:
http://arxiv.org/abs/2109.08801
Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the performance of t
Externí odkaz:
http://arxiv.org/abs/2006.11347
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