Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In this paper we present a novel approach for efficient exploration that leverages previously learned tasks. We exploit the fact that the same system is used across many tasks and build a generative model for exploration based on data from previously solved tasks to improve learning new tasks. The approach also enables continuous learning of improved exploration strategies as novel tasks are learned. Extensive simulations on a robot manipulator performing a variety of motion and contact interaction tasks demonstrate the capabilities of the approach. In particular, our experiments suggest that the exploration strategy can more than double learning speed, especially when rewards are sparse. Moreover, the algorithm is robust to task variations and parameter tuning, making it beneficial for complex robotic problems.
HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction
National University of Singapore（新加坡国立大学）；The University of Hong Kong（香港大学）；SIGS, Tsinghua University（清华大学深圳国际研究生院）；The Hong Kong University of Science and Technology（香港科技大学）；Noitom Robotics（诺亦腾机器人公司）
Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoning
organization= Center for Geospatial Sciences, Applications；Department of Landscape of Architecture；Urban Planning, Texas A\&M University , addressline= 788 Ross St , city= College Station , postcode= 77840 , state= TX , country= United States；organization= Zachry Department of Civil；Environmental Engineering, Texas A\&M University , addressline= 201 Dwight Look Engineering Building , city= College Station , postcode= 77843 , state= TX , country= United States；organization= Department of Civil；Environmental Engineering, University of Wisconsin-Madison , addressline= 1415 Engineering Dr , city= Madison , postcode= 53706 , state= WI , country= United States
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by sharing their future planned trajectories with each other via communication. However, such communication may not be available nor reliable in practice. In this paper, we introduce a novel trajectory prediction model based on recurrent neural networks (RNN) tha…
ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
University of Science and Technology of China（中国科学技术大学）；Shanghai AI Laboratory（上海人工智能实验室）；Northwestern Polytechnical University（西北工业大学）；Tsinghua University（清华大学）；Shanghai Jiao Tong University（上海交通大学）；TeleAI, China Telecom（TeleAI，中国电信）
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；Massachusetts Institute of Technology (MIT)（麻省理工学院）；Minerva Humanoids, Inc.（Minerva Humanoids公司）
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their accuracy and responsiveness. This work builds on top of Interaction Movement Primitives with phase estimation and re-formulates the framework to use dynamic human-motion observations which constantly update anticipatory motions. The original framework only considers a single fixed-duration static human observation which is used to perform only one anticipatory mo…
This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion predictions of the surrounding pedestrians. Human navigation behavior is mostly influenced by their surrounding pedestrians and by the static obstacles in their vicinity. In this paper we introduce a new model based on Long-Short Term Memory (LSTM) neural networks, which is able to learn human motion behavior from demonstrated data. To the best of our knowledge, this …
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called kinemes, and compare them to a baseline system using flashing colored lights through a user study. Our work shows evidence that motion can be used as a successful communication vector which is accurate, easy to learn, and quick enough to be used, all without requiring any additional hardware to be added to our platform. We thus contribute to "closing the loop" …
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories through motion capture systems. However, such representation does not properly model tasks where similar motions handle different objects. Under current approaches, a robot would not adapt its pose and dynamics for proper handling. We integrate the use of Electromyography (EMG) into the Interaction ProMP framework and utilize muscular signals to augment the huma…
Simulation and Retargeting of Complex Multi-Character Interactions
Georgia Institute of Technology（佐治亚理工学院）；Apple（苹果公司）；Reality Labs Research, Meta（Meta现实实验室研究部门）；Carnegie Mellon University（卡内基梅隆大学）；Seoul National University（首尔国立大学）
