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Query: "author" (Aleš Ude) .

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1.
Adaptive robotic levering for recycling tasks
Boris Kuster, Mihael Simonič, Aleš Ude, 2023, published scientific conference contribution

Published in DiRROS: 25.09.2023; Views: 317; Downloads: 44
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2.
Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, original scientific article

Abstract: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Keywords: autonomous robot learning, learning, experience, compliance and impedance contro
Published in DiRROS: 21.09.2023; Views: 346; Downloads: 171
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3.
Generalization-based acquisition of training data for motor primitive learning by neural networks
Zvezdan Lončarević, Rok Pahič, Aleš Ude, Andrej Gams, 2021, original scientific article

Published in DiRROS: 10.03.2021; Views: 1418; Downloads: 589
.pdf Full text (1,24 MB)

4.
Robot skill learning in latent space of a deep autoencoder neural network
Rok Pahič, Zvezdan Lončarević, Andrej Gams, Aleš Ude, 2021, original scientific article

Published in DiRROS: 10.03.2021; Views: 1290; Downloads: 608
.pdf Full text (1,55 MB)

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6.
Training of deep neural networks for the generation of dynamic movement primitives
Rok Pahič, Barry Ridge, Andrej Gams, Jun Morimoto, Aleš Ude, 2020, original scientific article

Published in DiRROS: 10.09.2020; Views: 1679; Downloads: 877
.pdf Full text (1,42 MB)

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8.
Learning to write anywhere with spatial transformer image-to-motion encoder-decoder networks
Barry Ridge, Rok Pahič, Aleš Ude, Jun Morimoto, 2019, published scientific conference contribution

Published in DiRROS: 08.10.2019; Views: 2284; Downloads: 1597
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9.
An efficient pbd framework for fast deployment of bi-manual assembly tasks
Bojan Nemec, Leon Žlajpah, Sebastjan Šlajpah, Jožica Piškur, Aleš Ude, 2018, published scientific conference contribution

Published in DiRROS: 08.10.2019; Views: 12677; Downloads: 1051
.pdf Full text (1,97 MB)

10.
Deep encoder-decoder networks for mapping raw images to dynamic movement primitives
Rok Pahič, Andrej Gams, Aleš Ude, Jun Morimoto, 2018, published scientific conference contribution

Published in DiRROS: 08.10.2019; Views: 2482; Downloads: 1347
.pdf Full text (1,66 MB)

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