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Celemin, Carlos (author), Kober, J. (author)In order to deploy robots that could be adapted by non-expert users, interactive imitation learning (IIL) methods must be flexible regarding the interaction preferences of the teacher and avoid assumptions of perfect teachers (oracles), while considering they make mistakes influenced by diverse human factors. In this work, we propose an IIL...journal article 2023
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Avaei, S. (author), van der Spaa, L.F. (author), Peternel, L. (author), Kober, J. (author)Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velocity preferences into trajectory planning for robotic manipulators. We first learn reward functions that...journal article 2023
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Schumann, J.F. (author), Kober, J. (author), Zgonnikov, A. (author)Autonomous vehicles currently suffer from a time-inefficient driving style caused by uncertainty about human behavior in traffic interactions. Accurate and reliable prediction models enabling more efficient trajectory planning could make autonomous vehicles more assertive in such interactions. However, the evaluation of such models is...journal article 2023
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van Riet, T.C.T. (author), de Graaf, W.M. (author), de Lange, Jan (author), Kober, J. (author)Being one of the oldest en most frequently performed invasive procedures; the lack of scientific progress of tooth removal procedures is impressive. This has most likely to do with technical limitations in measuring different aspects of these keyhole procedures. The goal of this study is to accurately capture the full range of motions during...journal article 2023
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D'Elia, E. (author), Mouret, J. -B. (author), Kober, J. (author), Ivaldi, S. (author)Designing controllers for complex robots such as humanoids is not an easy task. Often, researchers hand-tune controllers, but this is a time-consuming approach that yields a single controller which cannot generalize well to varied tasks. This work presents a method which uses the NSGA-II multi-objective optimization algorithm with various...conference paper 2022
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Zhu, J. (author), Cherubini, Andrea (author), Dune, Claire (author), Navarro-Alarcon, David (author), Alambeigi, Farshid (author), Berenson, Dmitry (author), Ficuciello, Fanny (author), Harada, Kensuke (author), Kober, J. (author), Yuan, Wenzhen (author)Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and health-care sectors. However, compared to rigid object manipulation, the manipulation of deformable objects is...journal article 2022
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Zhu, J. (author), Gienger, Michael (author), Kober, J. (author)Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the task parameters, hence enabling flexible task executions. However, training such a policy often requires...journal article 2022
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de Graaf, W.M. (author), van Riet, T.C.T. (author), de Lange, J. (author), Kober, J. (author)Surprisingly little is known about tooth removal procedures. This might be due to the difficulty of gaining reliable data on these procedures. To improve our understanding of these procedures, machine learning techniques were used to design a multiclass classification model of tooth removal based on force, torque, and movement data recorded...journal article 2022
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Perez Dattari, R.J. (author), Ferreira de Brito, B.F. (author), de Groot, O.M. (author), Kober, J. (author), Alonso Mora, J. (author)The successful integration of autonomous robots in real-world environments strongly depends on their ability to reason from context and take socially acceptable actions. Current autonomous navigation systems mainly rely on geometric information and hard-coded rules to induce safe and socially compliant behaviors. Yet, in unstructured urban...journal article 2022
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Beuling, M.G. (author), van Riet, T.C.T. (author), van Frankenhuyzen, J. (author), van Antwerpen, R. (author), de Blocq van Scheltinga, S. (author), Dourleijn, A.H.H. (author), Ireiz, D. (author), Streefkerk, S. (author), van Zanten, J.C. (author), de Lange, Jan (author), Kober, J. (author), Dodou, D. (author)The need for a training modality for tooth extraction procedures is increasing, as dental students do not feel properly trained. In this study, a prototype of a training setup is designed, in which extraction procedures can be performed on jaw models and cadaveric jaws. The prototype was designed in a way that it can give real-time feedback on...conference paper 2022
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Mészáros, A. (author), Franzese, G. (author), Kober, J. (author)This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...journal article 2022
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Passalis, N. (author), Pedrazzi, S. (author), Babuska, R. (author), Burgard, W. (author), Ferro, F. (author), Gabbouj, M. (author), Kayacan, E. (author), Kober, J. (author), Pieters, RRGM (author), Valada, A. (author)Existing Deep Learning (DL) frameworks typically do not provide ready-to-use solutions for robotics, where very specific learning, reasoning, and embodiment problems exist. Their relatively steep learning curve and the different methodologies employed by DL compared to traditional approaches, along with the high complexity of DL models, which...conference paper 2022
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van der Spaa, L.F. (author), Franzese, G. (author), Kober, J. (author), Gienger, Michael (author)In order to make the coexistence between humans and robots a reality, we must understand how they may cooperate more effectively. Modern robots, empowered with reliable controls and advanced machine learning reasoning can face this challenge. In this article, we presented a Disagreement- Aware Variable Impedance (DAVI) Controller, where the...conference paper 2022
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Franzese, G. (author), Meszaros, Anna (author), Peternel, L. (author), Kober, J. (author)Teaching robots how to apply forces according to our preferences is still an open challenge that has to be tackled from multiple engineering perspectives. This paper studies how to learn variable impedance policies where both the Cartesian stiffness and the attractor can be learned from human demonstrations and corrections with a user-friendly...conference paper 2021
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van der Heijden, D.S. (author), Ferranti, L. (author), Kober, J. (author), Babuska, R. (author)This paper presents DeepKoCo, a novel modelbased agent that learns a latent Koopman representation from images. This representation allows DeepKoCo to plan efficiently using linear control methods, such as linear model predictive control. Compared to traditional agents, DeepKoCo learns taskrelevant dynamics, thanks to the use of a tailored lossy...conference paper 2021
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- Celemin, Carlos (author), Kober, J. (author) conference paper 2021
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Bootsma, Bart (author), Franzese, G. (author), Kober, J. (author)Teaching a robot how to navigate in a new environment only from the sensor input in an end-to-end fashion is still an open challenge with much attention from industry and academia. This paper proposes an algorithm with the name 'Learning Interactively to Resolve Ambiguity' (LIRA) that tackles the problem of sensor policy fusion extending...conference paper 2021
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van Riet, T.C.T. (author), Chin Jen Sem, Kevin T.H. (author), Ho, Jean Pierre T.F. (author), Spijker, René (author), Kober, J. (author), de Lange, Jan (author)Objectives: To provide dental practitioners and researchers with a comprehensive and transparent evidence-based overview of the characteristics of literature regarding initiatives of robot technology in dentistry. Data: All articles in which robot technology in dentistry is described, except for non-scientific articles and articles containing...review 2021
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van Riet, T.C.T. (author), Chin Jen Sem, Kevin T.H. (author), Ho, Jean Pierre T.F. (author), Spijker, René (author), Kober, J. (author), de Lange, Jan (author)Objectives: To provide dental practitioners and researchers with a comprehensive and transparent evidence-based overview of physical robot initiatives in all fields of dentistry. Data: Articles published since 1985 concerning primary data on physical robot technology in dentistry were selected. Characteristics of the papers were extracted...review 2021
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Valletta, Peter (author), Perez Dattari, R.J. (author), Kober, J. (author)Aleatoric uncertainty estimation, based on the observed training data, is applied for the detection of conflicts in a demonstration data set. The particular focus of this paper is the resolution of conflicting data resulting from scenarios with equivalent action choices, such as obstacle avoidance, path planning or multiple joint...conference paper 2021