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A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals.
A simple ontology of manipulation actions based on hand-object relations
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Is imitation learning the route to humanoid robots?
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Between MDPs and semi-MDPs: A framework for temporal abstraction in reinforcement learning
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Algorithms for inverse reinforcement learning
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Completely derandomized self-adaptation in evolution strategies
N. Hansen and A. Ostermeier · 2001
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Autonomous mental development by robots and animals
J. Weng, J. McClelland, A. Pentland, O. Sporns, I. Stockman, M. Sur, and E. Thelen · 2001
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Strategy-based decision making of a soccer robot system using a real-time self-organizing fuzzy decision tree
H.-P. Huang and C.-C. Liang · 2002
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Novelty and reinforcement learning in the value system of developmental robots
X. Huang and J. Weng · 2002
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Robotic contamination cleaning system
K. Kim, H. Lee, J. Park, and M. Yang · 2002
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Predictive representations of state
M. L. Littman and R. S. Sutton · 2002
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The cross entropy method for fast policy search
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S. J. Russell and P. Norvig · 2003
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Anchoring in a grounded layered architecture with integrated reasoning
S. C. Shapiro and H. O. Ismail · 2003
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Apprenticeship learning via inverse reinforcement learning
P. Abbeel and A. Y. Ng · 2004
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Contact state estimation using multiple model estimation and hidden Markov models
T. J. Debus, P. E. Dupont, and R. D. Howe · 2004
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Performance-derived behavior vocabularies: data-driven acquisition of skills from motion
O. Jenkins and M. Matarić · 2004
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Infant grasp learning: a computational model
E. Oztop, N. S. Bradley, and M. A. Arbib · 2004
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Gaussian processes in machine learning
C. E. Rasmussen · 2004
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Manipulation planning with probabilistic roadmaps
T. Siméon, J.-P. Laumond, J. Cortés, and A. Sahbani · 2004
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Predictive state representations: A new theory for modeling dynamical systems
S. Singh, M. R. James, and M. R. Rudary · 2004
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A framework for learning and control in intelligent humanoid robots
O. Brock, A. Fagg, R. Grupen, R. Platt, M. Rosenstein, and J. Sweeney · 2005
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Intrinsically motivated reinforcement learning
N. Chentanez, A. G. Barto, and S. P. Singh · 2005
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A tutorial on the cross-entropy method
P.-T. De Boer, D. P. Kroese, S. Mannor, and R. Y. Rubinstein · 2005
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Learning movement primitives
S. Schaal, J. Peters, J. Nakanishi, and A. Ijspeert · 2005
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Robot modeling and control
M. Spong, S. Hutchinson, and M. Vidyasagar · 2005
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Behavior-grounded representation of tool affordances
A. Stoytchev · 2005
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Autonomous detection and control of task relevant features
A. Edsinger and C. C. Kemp · 2006
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Learning to control an octopus arm with Gaussian process temporal difference methods
Y. Engel, P. Szabo, and D. Volkinshtein · 2006
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Reinforcing robot perception of multi-modal events through repetition and redundancy and repetition and redundancy
P. Fitzpatrick, A. Arsenio, and E. R. Torres-Jara · 2006
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Dynamic movement primitives—a framework for motor control in humans and humanoid robotics
S. Schaal · 2006
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PAC model-free reinforcement learning
A. L. Strehl, L. Li, E. Wiewiora, J. Langford, and M. L. Littman · 2006
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Boosting structured prediction for imitation learning
J. Bagnell, J. Chestnutt, D. M. Bradley, and N. D. Ratliff · 2007
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On learning, representing, and generalizing a task in a humanoid robot
S. Calinon, F. Guenter, and A. Billard · 2007
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Dimensionality reduction for hand-independent dexterous robotic grasping
M. Ciocarlie, C. Goldfeder, and P. Allen · 2007
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From primitive behaviors to goal-directed behavior using affordances
M. R. Dogar, M. Cakmak, E. Ugur, and E. Sahin · 2007
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Grasping POMDPs
K. Hsiao, L. Kaelbling, and T. Lozano-Perez · 2007
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Building portable options: Skill transfer in reinforcement learning
G. Konidaris and A. G. Barto · 2007
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Active policy learning for robot planning and exploration under uncertainty
R. Martinez-Cantin, N. de Freitas, A. Doucet, and J. A. Castellanos · 2007
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Bayesian inverse reinforcement learning
D. Ramachandran and E. Amir · 2007
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To afford or not to afford: A new formalization of affordances toward affordance-based robot control
E. Sahin, M. Cakmak, M. R. Dogar, E. Ugur, and G. Ucoluk · 2007
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Transfer learning via inter-task mappings for temporal difference learning
M. Taylor, P. Stone, and Y. Liu · 2007
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An object-oriented representation for efficient reinforcement learning
C. Diuk, A. Cohen, and M. L. Littman · 2008
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Intrinsically motivated hierarchical manipulation
S. Hart · 2008
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Birth of the object: Detection of objectness and extraction of object shape through object-action complexes
D. Kraft, N. Pugeault, E. Baseski, M. Popovic, D. Kragic, S. Kalkan, F. Wörgötter, and N. Krüger · 2008
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Learning object affordances: from sensory–motor coordination to imitation
L. Montesano, M. Lopes, A. Bernardino, and J. Santos-Victor · 2008
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Natural actor-critic
J. Peters and S. Schaal · 2008
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Learning to grasp novel objects using vision
A. Saxena, J. Driemeyer, J. Kearns, C. Osondu, and A. Y. Ng · 2008
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Learning object models for whole body manipulation
M. Stilman, K. Nishiwaki, and S. Kagami · 2008
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Maximum entropy inverse reinforcement learning
B. D. Ziebart, A. L. Maas, J. A. Bagnell, and A. K. Dey · 2008
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A survey of robot learning from demonstration
B. D. Argall, S. Chernova, M. Veloso, and B. Browning · 2009
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Curriculum learning
Y. Bengio, J. Louradour, R. Collobert, and J. Weston · 2009
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Interactive policy learning through confidence-based autonomy
S. Chernova and M. Veloso · 2009
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The adaptive k k -meteorologists problems and its application to structure learning and feature selection in reinforcement learning
C. Diuk, L. Li, and B. Leffler · 2009
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Temporal logic motion planning for dynamic robots
G. E. Fainekos, A. Girard, H. Kress-Gazit, and G. J. Pappas · 2009
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Data-driven grasping with partial sensor data
C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang, and P. K. Allen · 2009
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An intrinsic reward for affordance exploration
S. Hart · 2009
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Interactive segmentation for manipulation in unstructured environments
J. Kenney, T. Buckley, and O. Brock · 2009
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Policy search for motor primitives in robotics
J. Kober and J. R. Peters · 2009
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Active learning for reward estimation in inverse reinforcement learning
M. Lopes, F. Melo, and L. Montesano · 2009
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What is intrinsic motivation? a typology of computational approaches
P.-Y. Oudeyer and F. Kaplan · 2009
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Learning and generalization of motor skills by learning from demonstration
P. Pastor, H. Hoffmann, T. Asfour, and S. Schaal · 2009
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A hypercube-based encoding for evolving large-scale neural networks
K. O. Stanley, D. B. D’Ambrosio, and J. Gauci · 2009
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Predicting future object states using learned affordances
E. Ugur, E. Sahin, and E. Öztop · 2009
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Autonomous helicopter aerobatics through apprenticeship learning
P. Abbeel, A. Coates, and A. Y. Ng · 2010
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CRAM: A cognitive robot abstract machine for everyday manipulation in human environments
M. Beetz, L. Mösenlechner, and M. Tenorth · 2010
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Learning grasp stability based on tactile data and hmms
Y. Bekiroglu, D. Kragic, and V. Kyrki · 2010
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Learning grasping points with shape context
J. Bohg and D. Kragic · 2010
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Incremental local online Gaussian mixture regression for imitation learning of multiple tasks
T. Cederborg, M. Li, A. Baranes, and P.-Y. Oudeyer · 2010
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Movement extraction by detecting dynamics switches and repetitions
S. Chiappa and J. Peters · 2010
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Tactile object class and internal state recognition for mobile manipulation
S. Chitta, M. Piccoli, and J. Sturm · 2010
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Robot learning of everyday object manipulations via human demonstration
H. Dang and P. K. Allen · 2010
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Inverse optimal control with linearly-solvable MDPs
K. Dvijotham and E. Todorov · 2010
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Incremental learning of subtasks from unsegmented demonstration
D. Grollman and O. Jenkins · 2010
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Task-driven tactile exploration
K. Hsiao, L. P. Kaelbling, and T. Lozano-Perez · 2010
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Interactive perception of articulated objects
D. Katz, A. Orthey, and O. Brock · 2010
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Combining active learning and reactive control for robot grasping
O. B. Kroemer, R. Detry, J. Piater, and J. Peters · 2010
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Genetic programming for reward function search
S. Niekum, A. G. Barto, and L. Spector · 2010
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Relative entropy policy search
J. Peters, K. Mülling, and Y. Altun · 2010
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Belief space planning assuming maximum likelihood observations
R. Platt, R. Tedrake, L. Kaelbling, and T. Lozano-Perez · 2010
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Failure detection in assembly: Force signature analysis
A. Rodriguez, D. Bourne, M. Mason, G. F. Rossano, and J. Wang · 2010
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Combining motion planning and optimization for flexible robot manipulation
J. Scholz and M. Stilman · 2010
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Operating articulated objects based on experience
J. Sturm, A. Jain, C. Stachniss, C. C. Kemp, and W. Burgard · 2010
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LQR-trees: Feedback motion planning via sums-of-squares verification
R. Tedrake, I. R. Manchester, M. Tobenkin, and J. W. Roberts · 2010
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A generalized path integral control approach to reinforcement learning
E. Theodorou, J. Buchli, and S. Schaal · 2010
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Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations
J. Van Den Berg, S. Miller, D. Duckworth, H. Hu, A. Wan, X.-Y. Fu, K. Goldberg, and P. Abbeel · 2010
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Modeling Purposeful Adaptive Behavior with the Principle of Maximum Causal Entropy
B. D. Ziebart · 2010
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Maximum entropy inverse reinforcement learning in continuous state spaces with path integrals
N. Aghasadeghi and T. Bretl · 2011
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Learning the semantics of object-action relations by observation
E. E. Aksoy, A. Abramov, J. Dörr, K. Ning, B. Dellen, and F. Wörgötter · 2011
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Apprenticeship learning about multiple intentions
M. Babes, V. Marivate, K. Subramanian, and M. L. Littman · 2011
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Collaborative grasp planning with multiple object representations
P. Brook, M. Ciocarlie, and K. Hsiao · 2011
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Learning variable impedance control
J. Buchli, F. Stulp, E. Theodorou, and S. Schaal · 2011
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Tactile sensing for mobile manipulation
S. Chitta, J. Sturm, M. Piccoli, and W. Burgard · 2011
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PILCO: A model-based and data-efficient approach to policy search
M. Deisenroth and C. E. Rasmussen · 2011
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Learning grasp affordance densities
R. Detry, D. Kraft, O. Kroemer, L. Bodenhagen, J. Peters, N. Krüger, and J. Piater · 2011
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A factorization approach to manipulation in unstructured environments
D. Katz and O. Brock · 2011
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Reinforcement learning to adjust robot movements to new situations
J. Kober, E. Oztop, and J. Peters · 2011
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Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input
P. Kormushev, S. Calinon, and D. G. Caldwell · 2011
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Object-action complexes: Grounded abstractions of sensory-motor processes
N. Krüger, C. Geib, J. Piater, R. Petrick, M. Steedman, F. Wörgötter, A. Ude, T. Asfour, D. Kraft, D. Omrčen, A. Agostini, and R. Dillmann · 2011
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Nonlinear inverse reinforcement learning with gaussian processes
S. Levine, Z. Popovic, and V. Koltun · 2011
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Movement segmentation using a primitive library
F. Meier, E. Theodorou, F. Stulp, and S. Schaal · 2011
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Incremental online sparsification for model learning in real-time robot control
D. Nguyen-Tuong and J. Peters · 2011
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Clustering via Dirichlet process mixture models for portable skill discovery
S. Niekum and A. G. Barto · 2011
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Skill learning and task outcome prediction for manipulation
P. Pastor, M. Kalakrishnan, S. Chitta, E. Theodorou, and S. Schaal · 2011
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Online movement adaptation based on previous sensor experiences
P. Pastor, L. Righetti, M. Kalakrishnan, and S. Schaal · 2011
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Global localization of objects via touch
A. Petrovskaya and O. Khatib · 2011
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Efficient planning in non-Gaussian belief spaces and its application to robot grasping
R. Platt, L. Kaelbling, T. Lozano-Perez, and R. Tedrake · 2011
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Learning spatial relationships between objects
B. Rosman and S. Ramamoorthy · 2011
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Multivariate discretization for Bayesian network structure learning in robot grasping
D. Song, C. H. Ek, K. Huebner, and D. Kragic · 2011
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A probabilistic framework for learning kinematic models of articulated objects
J. Sturm, C. Stachniss, and W. Burgard · 2011
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Integrating reinforcement learning with human demonstrations of varying ability
M. E. Taylor, H. B. Suay, and S. Chernova · 2011
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Understanding natural language commands for robotic navigation and mobile manipulation
S. Tellex, T. Kollar, S. Dickerson, M. R. Walter, A. G. Banerjee, S. Teller, and N. Roy · 2011
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Going beyond the perception of affordances: Learning how to actualize them through behavioral parameters
E. Ugur, E. Öztop, and E. Sahin · 2011
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Keyframe-based learning from demonstration: Method and evaluation
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Measuring the objectness of image windows
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On-line learning of temporal state models for flexible objects
N. Bergström, C. H. Ek, D. Kragic, Y. Yamakawa, T. Senoo, and M. Ishikawa · 2012
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Task-based grasp adaptation on a humanoid robot
J. Bohg, K. Welke, B. León, M. Do, D. Song, W. Wohlkinger, M. Madry, A. Aldóma, M. Przybylski, T. Asfour, H. Martí, D. Kragic, A. Morales, and M. Vincze · 2012
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Structured apprenticeship learning
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Towards formal synthesis of reactive controllers for dexterous robotic manipulation
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Nonparametric Bayesian inverse reinforcement learning for multiple reward functions
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Learning grasp stability
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Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task
H. Dang and P. K. Allen · 2012
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Object categorization in the sink: Learning behavior-grounded object categories with water
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Segmentation of cluttered scenes through interactive perception
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Learning to place new objects in a scene
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Robot learning from demonstration by constructing skill trees
G. Konidaris, S. Kuindersma, R. Grupen, and A. Barto · 2012
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Imagenet classification with deep convolutional neural networks
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Exploration in relational domains for model-based reinforcement learning
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Bayesian nonparametric inverse reinforcement learning
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Stereo vision of liquid and particle flow for robot pouring
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Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables
A. Yamaguchi and C. G. Atkeson · 2016
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More than a million ways to be pushed. A high-fidelity experimental dataset of planar pushing
K. Yu, M. Bauzá, N. Fazeli, and A. Rodriguez · 2016
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Hindsight experience replay
M. Andrychowicz, F. Wolski, A. Ray, J. Schneider, R. Fong, P. Welinder, B. McGrew, J. Tobin, O. P. Abbeel, and W. Zaremba · 2017
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Opening a lockbox through physical exploration
M. Baum, M. Bernstein, R. Martín-Martín, S. Höfer, J. Kulick, M. Toussaint, A. Kacelnik, and O. Brock · 2017
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A probabilistic data-driven model for planar pushing
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Active learning of visual descriptors for grasping using non-parametric smoothed beta distributions
L. Montesano and M. Lopes · 2012
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Autonomous learning of high-level states and actions in continuous environments
J. Mugan and B. Kuipers · 2012
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Towards associative skill memories
P. Pastor, M. Kalakrishnan, L. Righetti, and S. Schaal · 2012
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Automatically composing and parameterizing skills by evolving finite state automata
L. Riano and T. McGinnity · 2012
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The object pairing and matching task: Toward Montessori tests for robots
C. Schenck and A. Stoytchev · 2012
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Which object comes next? grounded order completion by a humanoid robot
C. Schenck, J. Sinapov, and A. Stoytchev · 2012
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M. Bauza and A. Rodriguez · 2017
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Interactive perception: Leveraging action in perception and perception in action
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Bayesian eigenobjects: A unified framework for 3D robot perception
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Combining model-based and model-free updates for trajectory-centric reinforcement learning
Y. Chebotar, K. Hausman, M. Zhang, G. Sukhatme, S. Schaal, and S. Levine · 2017
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S. Choudhury, Y. Hou, G. Lee, and S. S. Srinivasa · 2017
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Task-oriented grasping with semantic and geometric scene understanding
R. Detry, J. Papon, and L. Matthies · 2017
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One-shot imitation learning
Y. Duan, M. Andrychowicz, B. Stadie, O. J. Ho, J. Schneider, I. Sutskever, P. Abbeel, and W. Zaremba · 2017
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Inverse KKT: Learning cost functions of manipulation tasks from demonstrations
P. Englert, N. Vien, and M. Toussaint · 2017
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Deep visual foresight for planning robot motion
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Model-agnostic meta-learning for fast adaptation of deep networks
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Reverse curriculum generation for reinforcement learning
C. Florensa, D. Held, M. Wulfmeier, M. Zhang, and P. Abbeel · 2017
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Learning robust rewards with adversarial inverse reinforcement learning
J. Fu, K. Luo, and S. Levine · 2017
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Probabilistic articulated real-time tracking for robot manipulation
C. Garcia Cifuentes, J. Issac, M. Wüthrich, S. Schaal, and J. Bohg · 2017
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Viewpoint selection for grasp detection
M. Gualtieri and R. Platt · 2017
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Learning invariant feature spaces to transfer skills with reinforcement learning
A. Gupta, C. Devin, Y. Liu, P. Abbeel, and S. Levine · 2017
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Grounded action transformation for robot learning in simulation
J. P. Hanna and P. Stone · 2017
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Bootstrapping with models: Confidence intervals for off-policy evaluation
J. P. Hanna, P. Stone, and S. Niekum · 2017
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Multi-modal imitation learning from unstructured demonstrations using generative adversarial nets
K. Hausman, Y. Chebotar, S. Schaal, G. Sukhatme, and J. J. Lim · 2017
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Mask R-CNN
K. He, G. Gkioxari, P. Dollár, and R. Girshick · 2017
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DARLA: Improving zero-shot transfer in reinforcement learning
I. Higgins, A. Pal, A. A. Rusu, L. Matthey, C. P. Burgess, A. Pritzel, M. Botvinick, C. Blundell, and A. Lerchner · 2017
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End-to-end learning of semantic grasping
E. Jang, S. Vijayanarasimhan, P. Pastor, J. Ibarz, and S. Levine · 2017
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Schema networks: Zero-shot transfer with a generative causal model of intuitive physics
K. Kansky, T. Silver, D. A. Mély, M. Eldawy, M. Lázaro-Gredilla, X. Lou, N. Dorfman, S. Sidor, S. Phoenix, and D. George · 2017
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