4 accepted papers
Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents <sc xmlns:mml="http://www.w3.org/1998/Math/MathML"
In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which considers both spatial and temporal properties of a trajectory is proposed by…
Performing manipulation tasks in human environments often requires coordinated motions. The Extended-Cooperative-Task Space (ECTS) presents a unified representation describing any type of coordinated motions of two end-effectors. This paper focuses on the specification of dual-arm motion tasks based…
A humanoid robot can be viewed as a constrained dynamic system with constraints imposed by manipulation tasks, locomotion tasks, and the environment. This paper focuses on dealing with constraints in the upper-body of humanoid robots for manipulation tasks that involve coordinated motion of two arms…