Related papers: CRIL: Continual Robot Imitation Learning via Gener…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

We propose Generative Predecessor Models for Imitation Learning (GPRIL), a novel imitation learning algorithm that matches the state-action distribution to the distribution observed in expert demonstrations, using generative models to…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Imitation learning allows social robots to learn new skills from human teachers without substantial manual programming, but it is difficult for robotic imitation learning systems to generalize demonstrated skills as well as human learners…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

This paper studies the challenging continual learning (CL) setting of Class Incremental Learning (CIL). CIL learns a sequence of tasks consisting of disjoint sets of concepts or classes. At any time, a single model is built that can be…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…