8 accepted papers
General robot skill adaptation requires expressive representations robust to varying task configurations. While recent learning-based skill adaptation methods refined via Reinforcement learning (RL) have shown success, existing skill models often lack sufficient representational capacity for anythin
In this paper, we propose a robot skill-learning method that facilitates fast adaption to new tasks online. Our method is based on a hybrid learning from demonstration and reinforcement learning approach, which seeds learning with a compact and structured skill model, leading to efficient and stable…
Robotic additive manufacturing has the potential to replace traditional production techniques with more flexible, capable and efficient methods. However, this potential has not yet been realized due to the intrinsic physical limitations of extruders. Thus improved speed and efficiency lies in coordi
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that handles dynamic objects and collision avoidance through an
Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in guiding the demonstration itself in order to improve robustness. T…
This paper presents an active visual-inertial mapping framework with points and planes. The key aspect of the proposed framework is a novel probabilistic plane extraction with its associated model for estimation. The approach allows the extraction of plane parameters and their uncertainties based on…
Dormant pruning is a major cost component of fresh market tree fruit production, nearly equal in scale to harvesting the fruit. However, relatively little focus has been given to the problem of pruning trees autonomously. In this paper, we introduce a robotic system consisting of an industrial manip…
We consider the problem of reconstructing regions of interest of a scene using multiple robot arms and RGB-D sensors. This problem is motivated by a variety of applications, such as precision agriculture and infrastructure inspection. A viewpoint evaluation function is presented that exploits predic…