Related papers: Learning One-Shot Imitation from Humans without Hu…

We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitating human or dog Motion Capture (MoCap) data to learn a…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…

The ability to learn new concepts with small amounts of data is a critical aspect of intelligence that has proven challenging for deep learning methods. Meta-learning has emerged as a promising technique for leveraging data from previous…

We tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…

Pre-training on massive video datasets has become essential to achieve high action recognition performance on smaller downstream datasets. However, most large-scale video datasets contain images of people and hence are accompanied with…

Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…

Humans learn to imitate by observing others. However, robot imitation learning generally requires expert demonstrations in the first-person view (FPV). Collecting such FPV videos for every robot could be very expensive. Third-person…

Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…

Artificial intelligence (AI) has enabled agents to master complex video games, from first-person shooters like Counter-Strike to real-time strategy games such as StarCraft II and racing games like Gran Turismo. While these achievements are…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both…

This paper attempts to address the issues of machine learning in its current implementation. It is known that machine learning algorithms require a significant amount of data for training purposes, whereas recent developments in deep…

We propose a method for learning embeddings for few-shot learning that is suitable for use with any number of ways and any number of shots (shot-free). Rather than fixing the class prototypes to be the Euclidean average of sample…

Learning from demonstration (LfD) is commonly considered to be a natural and intuitive way to allow novice users to teach motor skills to robots. However, it is important to acknowledge that the effectiveness of LfD is heavily dependent on…

In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…

In this work, we present a novel meta-learning algorithm, i.e. TTNet, that regresses model parameters for novel tasks for which no ground truth is available (zero-shot tasks). In order to adapt to novel zero-shot tasks, our meta-learner…