Programming by demonstration: dual-arm manipulation tasks for humanoid robots

By Raoul Daniel Zöllner, Tamim Asfour, Rüdiger Dillmann. 2004

152 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

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Citations in the corpus

Learning Multi-Arm Manipulation Through Collaborative Teleoperation (2020, background): “Some prior works [13, 21, 33, 43] have leveraged the paradigm of programming by demonstration, but these approaches often requires large modeling assumptions, and may not generalize well to different environment configurations.”
Human–robot interaction review and challenges on task planning and programming (2016, methodology): “Zollner, Asfour, and Dillmann 2004).”
Probabilistic model-based imitation learning (2013, background): “, at the symbolic [43] or trajectory level [10]), whether they use a system model, and whether/how they employ cost functions for the task.”
Intrinsic Motivation for Encouraging Synergistic Behavior (2020, background): “On the other hand, learning-based strategies for this task often leverage human demonstrations to circumvent the challenge of exploration (Zollner et al., 2004; Gribovskaya & Billard, 2008; Kroemer et al., 2015).”
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation (2024, unknown): “…challenge in learning a bimanual manipulation policy is the high dimensionality of the action space, which exacerbates the data scarcity (Zoll-ner et al., 2004; Smith et al., 2012; Lioutikov et al., 2016; Stepputtis et al., 2022) and the multi-modal behavior (Colom ´ e & Torras, 2018;…”
Dual arm manipulation - A survey (2012, methodology): “In [103], a framework for dual-arm programming by demonstration (PbD) is described.”
Combining Dynamical Systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot (2008, background): “Bimanual coordination is not treated as a constraints per se, but emerges from requiring that the robot reproduces exactly the demonstrated joint trajectories [21], or some given object/hand relation [4].”
Two Arms Are Better Than One: A Behavior Based Control System for Assistive Bimanual Manipulation (2007, background): “For example, the ARMAR project is investigating manipulation in human environments and has shown results including the bimanual opening of a jar [21].”
Efficient Bimanual Manipulation Using Learned Task Schemas (2019, methodology): “classical control settings [25], and often rely on hybrid force-position control strategies to guide both manipulators [26], [27]. These tasks have also been addressed via learning from demonstration [28], [29], [30]. In our work, we do not rely on demonstrations, and we are able to learn control po”