Which Object Comes Next? Grounded Order Completion by a Humanoid Robot
This paper describes a framework that a robot can use to complete the ordering of a set of objects. Given two sets of objects, an ordered set and an unordered set, the robot’s task is to select one object from the unordered set that best ...
Towards Autonomous Robotic Valve Turning
In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending ...
Learning to Generalize from Demonstrations
Learning by demonstration is a natural approach that can be used to build a robot’s task repertoire. In this paper we propose an algorithm that enables a learner to generalize a task representation from a small number of demonstrations of ...
On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning
In ZMP trajectory generation using simple models, often a considerable amount of trials and errors are involved to obtain locally stable gaits by manually tuning the gait parameters. In this paper a 15 degrees of Freedom dynamic model of a ...
Combining Local and Global Direct Derivative-Free Optimization for Reinforcement Learning
We consider the problem of optimization in policy space for reinforcement learning. While a plethora of methods have been applied to this problem, only a narrow category of them proved feasible in robotics. We consider the peculiar ...
Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization
Legged robots are uniquely privileged over their wheeled counterparts in their potential to access rugged terrain. However, designing walking gaits by hand for legged robots is a difficult and time-consuming process, so we seek algorithms ...
Optimization of a Compact Model for the Compliant Humanoid Robot COMAN Using Reinforcement Learning
COMAN is a compliant humanoid robot. The introduction of passive compliance in some of its joints affects the dynamics of the whole system. Unlike traditional stiff robots, there is a deflection of the joint angle with respect to the ...
Individual Recognition from Gait Using Feature Value Method
We propose a novel framework to recognize individuals from gait, in order to improve HRI. We collected the motion data of the torso from 13 persons’ gait, using 2 IMU sensors. We developed Feature Value Method which is a PCA based ...
A Robotized Projective Interface for Human-Robot Learning Scenarios
In this work we discuss a novel robotics interface with perception and projection capabilities for facilitating the skill transfer process. The interface aims at allowing humans and robots to interact with each other in the same ...
