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Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
Mar 13, 2024
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose incorporating barrier certificates into an optimization problem to learn a stable and barrier-certified DS. Such optimization problem can be very complex or extremely conservative when the traditional linear parameter-varying formulation is used. Thus, different from previous approaches in the literature, we propose to use polynomial representations for DSs, which yields an optimization problem that can be tackled by sum-of-squares techniques. Finally, our approach can handle obstacle shapes that fall outside the scope of assumptions typically found in the literature concerning obstacle avoidance within the DS learning framework. Supplementary material can be found at the project webpage: https://martinschonger.github.io/abc-ds
LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation
Oct 23, 2023The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform long-horizon tasks without expensive annotated demonstrations. However, public benchmarks for testing the long-horizon reasoning capabilities of language-conditioned robots in various scenarios are still missing. To fill this gap, this work focuses on the tabletop manipulation task and releases a simulation benchmark, \textit{LoHoRavens}, which covers various long-horizon reasoning aspects spanning color, size, space, arithmetics and reference. Furthermore, there is a key modality bridging problem for long-horizon manipulation tasks with LLMs: how to incorporate the observation feedback during robot execution for the LLM's closed-loop planning, which is however less studied by prior work. We investigate two methods of bridging the modality gap: caption generation and learnable interface for incorporating explicit and implicit observation feedback to the LLM, respectively. These methods serve as the two baselines for our proposed benchmark. Experiments show that both methods struggle to solve some tasks, indicating long-horizon manipulation tasks are still challenging for current popular models. We expect the proposed public benchmark and baselines can help the community develop better models for long-horizon tabletop manipulation tasks.
A Concise Overview of Safety Aspects in Human-Robot Interaction
Sep 18, 2023As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a multi-layered safety architecture, integrating both physical and cognitive aspects for effective HRI. We outline critical requirements for physical safety layers as service modules that can be arbitrarily queried. Further, we showcase an HRI scheme that addresses human factors and perceived safety as high-level constraints on a validated impact safety paradigm. The aim is to enable safety certification of human-friendly robots across various HRI scenarios.
Towards Language-Based Modulation of Assistive Robots through Multimodal Models
Jun 27, 2023
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the potential of language-based modulation as a means to improve human-robot interaction. We propose to explore real-time modulation during task execution, leveraging language cues, visual references, and multimodal inputs. By developing transparent and interpretable methods, we aim to enable robots to adapt and respond to language commands, enhancing their usability and flexibility. Through the exchange of insights and knowledge at the workshop, we seek to gather valuable feedback to advance our research and contribute to the development of interactive robotic systems for Geriatronics and beyond.
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
Aug 16, 2022
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of human-like motion. Although in recent literature focus is shifted towards manipulability transfer between two robots, the adaptation to the capabilities of the other kinematic system is to date not addressed and research in transfer from human to robot is still in its infancy. This work presents a novel manipulability domain adaptation method for the transfer of manipulability information to the domain of another kinematic system. As manipulability matrices/ellipsoids are symmetric positive-definite (SPD) they can be viewed as points on the Riemannian manifold of SPD matrices. We are the first to address the problem of manipulability transfer from the perspective of point cloud registration. We propose a manifold-aware Iterative Closest Point algorithm (ICP) with parallel transport initialization. Furthermore, we introduce a correspondence matching heuristic for manipulability ellipsoids based on inherent geometric features. We confirm our method in simulation experiments with 2-DoF manipulators as well as 7-DoF models representing the human-arm kinematics.
LaTTe: Language Trajectory TransformEr
Aug 09, 2022
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation, and deployment in the real world, is far from being an easy task. Indeed, combining robotic's inherent low-level geometric and kinodynamic constraints with human's high-level semantic information reinvigorates and raises new challenges to the task-design problem -- typically leading to task or hardware specific solutions with a static set of action targets and commands. This work instead proposes a flexible language-based framework that allows to modify generic 3D robotic trajectories using language commands with reduced constraints about prior task or robot information. By taking advantage of pre-trained language models, we employ an auto-regressive transformer to map natural language inputs and contextual images into changes in 3D trajectories. We show through simulations and real-life experiments that the model can successfully follow human intent, modifying the shape and speed of trajectories for multiple robotic platforms and contexts. This study takes a step into building large pre-trained foundational models for robotics and shows how such models can create more intuitive and flexible interactions between human and machines. Codebase available at: https://github.com/arthurfenderbucker/NL_trajectory_reshaper.
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
Mar 25, 2022
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most of the current language interfaces require rigid templates with a static set of action targets and commands. In this work, we provide a flexible language-based interface for human-robot collaboration, which allows a user to reshape existing trajectories for an autonomous agent. We take advantage of recent advancements in the field of large language models (BERT and CLIP) to encode the user command, and then combine these features with trajectory information using multi-modal attention transformers. We train the model using imitation learning over a dataset containing robot trajectories modified by language commands, and treat the trajectory generation process as a sequence prediction problem, analogously to how language generation architectures operate. We evaluate the system in multiple simulated trajectory scenarios, and show a significant performance increase of our model over baseline approaches. In addition, our real-world experiments with a robot arm show that users significantly prefer our natural language interface over traditional methods such as kinesthetic teaching or cost-function programming. Our study shows how the field of robotics can take advantage of large pre-trained language models towards creating more intuitive interfaces between robots and machines. Project webpage: https://arthurfenderbucker.github.io/NL_trajectory_reshaper/