7 accepted papers
A painting is more than just a picture on a wall; a painting is a process comprised of many intentional brush strokes, the shapes of which are an important component of a painting's overall style and message. Prior work in modeling brush stroke trajectories either does not work with real-world robot…
A painting is more than just a picture on a wall; a painting is a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">process</i> comprised of many intentional brush strokes, the shapes of which are an important component of a painting's overall style an
Humans are remarkably adept at imitating other people performing tasks, afforded by their ability to abstract away irrelevant details and focus on the task strategy of the demonstrator. In this paper, we take steps towards enabling robots with this ability, and present a framework, TransAct to do so…
In this paper, we explore how we can endow robots with the ability to learn correspondences between their own skills, and those of morphologically different robots in different domains, in an entirely unsupervised manner. We make the insight that different morphological robots use similar task strat…
In this paper, we present an approach to learn recomposable motor primitives across large-scale and diverse manipulation demonstrations. Current approaches to decomposing demonstrations into primitives often assume manually defined primitives and bypass the difficulty of discovering these primitives…
In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from demonstrations of a robot performing various tasks. By represen…
We explore the problem of learning to decompose spatial tasks into segments, as exemplified by the problem of a painting robot covering a large object. Inspired by the ability of classical decision tree algorithms to construct structured parti- tions of their input spaces, we formulate the problem o