9 accepted papers
Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall task goal and of the underlying actions. Additionally, learning…
We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our approach builds on robust human keypoint detectors for color…
Dynamic systems are a practical alternative to motion planning in executing robot actions. They are of particular interest in Learning from Demonstration, as here we aim to carry out actions in a certain fashion, without a model or in-depth knowledge about the world, which might be difficult to achi…
In sustainable farming, robotic solutions are in rising demand. Specifically robots for precision agriculture open up possibilities for new applications. Such applications typically require a high accuracy of the underlying navigation system. A cornerstone for reliable navigation is the robust detec
Efficient navigation planning for mobile robots in complex environments is a challenging problem. In this paper we consider the path planning problem for mobile robots with adjustable relative wheel positions, which further increase the navigation capabilities. In particular we account for changes o…
Over the past years learning from demonstration has become a popular method to intuitively teach new skills to service robots without explicit programming. However, most teaching approaches in literature use kinesthetic training and do not include mobile platforms. Here, we present a novel approach…
Shakey the robot was one of the first autonomous robots that showed impressive capabilities of navigation and mobile manipulation. Since then, robotics research has made great progress, showing more and more capable robotic systems for a large variety of application domains and tasks. In this letter
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets without pedestrian traffic lights. To solve this task the robot…
Learning from demonstration is a popular approach for teaching robots as it allows service robots to acquire new skills without explicit programming. However, for manipulation actions mostly kinesthetic teaching is used as these actions require precise knowledge about the interactions between the ro…