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Alexandre St-Aubin

Stagiaire de recherche - McGill
Superviseur⋅e principal⋅e
Sujets de recherche
Interaction humain-IA
Robotique
Théorie de l'apprentissage automatique
XAI (IA explicable)

Publications

Single-Shot Learning of Stable Dynamical Systems for Long-Horizon Manipulation Tasks
Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-hor… (voir plus)izon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring reliable and successful execution. In this paper, we extend previous work on learning long-horizon tasks and stable policies, focusing on improving task success rates while reducing the amount of training data needed. Our approach introduces a novel method that (1) segments long-horizon demonstrations into discrete steps defined by waypoints and subgoals, and (2) learns globally stable dynamical system policies to guide the robot to each subgoal, even in the face of sensory noise and random disturbances. We validate our approach through both simulation and real-world experiments, demonstrating effective transfer from simulation to physical robotic platforms. Code is available at https://github.com/Alestaubin/stable-imitation-policy-with-waypoints