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Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching…

In this paper, we introduce DistDD, a novel approach within the federated learning framework that reduces the need for repetitive communication by distilling data directly on clients' devices. Unlike traditional federated learning that…

Aligning Large Language Models (LLMs) is crucial for enhancing their safety and utility. However, existing methods, primarily based on preference datasets, face challenges such as noisy labels, high annotation costs, and privacy concerns.…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and…

The performance of a lifelong learning (L3) model degrades when it is trained on a series of tasks, as the geometrical formation of the embedding space changes while learning novel concepts sequentially. The majority of existing L3…

Standard Latent Diffusion Models rely on a complex, three-part architecture consisting of a separate encoder, decoder, and diffusion network, which are trained in multiple stages. This modular design is computationally inefficient, leads to…

Lifelong imitation learning for manipulation tasks poses significant challenges due to distribution shifts that occur in incremental learning steps. Existing methods often focus on unsupervised skill discovery to construct an ever-growing…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

Model-Heterogeneous Federated Learning (Hetero-FL) has attracted growing attention for its ability to aggregate knowledge from heterogeneous models while keeping private data locally. To better aggregate knowledge from clients, ensemble…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Methods for teaching motion skills to robots focus on training for a single skill at a time. Robots capable of learning from demonstration can considerably benefit from the added ability to learn new movement skills without forgetting what…

The ever-growing volume and decentralized nature of data, coupled with the need to harness it and extract knowledge, have led to the extensive use of distributed deep learning (DDL) techniques for training. These techniques rely on local…

Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by means of coaching. Adopting a similar framework for…

We propose a novel teacher-student framework to distill knowledge from multiple teachers trained on distinct datasets. Each teacher is first trained from scratch on its own dataset. Then, the teachers are combined into a joint architecture,…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Recently, innovative model aggregation methods based on knowledge distillation (KD) have been proposed for federated learning (FL). These methods not only improved the robustness of model aggregation over heterogeneous learning environment,…

Learning from demonstration (LfD) is the process of building behavioral models of a task from demonstrations provided by an expert. These models can be used e.g. for system control by generalizing the expert demonstrations to previously…

Federated learning (FL) enables multiple clients to collaboratively train a global model while keeping local data decentralized. Data heterogeneity (non-IID) across clients has imposed significant challenges to FL, which makes local models…

Training machine learning models on massive datasets is expensive and time-consuming. Dataset distillation addresses this by creating a small synthetic dataset that achieves the same performance as the full dataset. Recent methods use…