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Applying imitation learning (IL) is challenging to nonprehensile manipulation tasks of invisible objects with partial observations, such as excavating buried rocks. The demonstrator must make such complex action decisions as exploring to…

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more…

Federated Learning (FL) is a very promising approach for improving decentralized Machine Learning (ML) models by exchanging knowledge between participating clients without revealing private data. Nevertheless, FL is still not tailored to…

We tackle a common scenario in imitation learning (IL), where agents try to recover the optimal policy from expert demonstrations without further access to the expert or environment reward signals. Except the simple Behavior Cloning (BC)…

Federated learning (FL) is an emerging distributed machine learning paradigm enabling collaborative model training on decentralized devices without exposing their local data. A key challenge in FL is the uneven data distribution across…

Deep learning methods have revolutionized mobile robotics, from advanced perception models for an enhanced situational awareness to novel control approaches through reinforcement learning. This paper explores the potential of federated…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Federated Learning (FL) is a collaborative machine learning framework that allows multiple users to train models utilizing their local data in a distributed manner. However, considerable statistical heterogeneity in local data across…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…

Inverse reinforcement learning (IRL) infers a reward function from demonstrations, allowing for policy improvement and generalization. However, despite much recent interest in IRL, little work has been done to understand the minimum set of…

Like generic multi-task learning, continual learning has the nature of multi-objective optimization, and therefore faces a trade-off between the performance of different tasks. That is, to optimize for the current task distribution, it may…

In human-robot interaction (HRI) systems, such as autonomous vehicles, understanding and representing human behavior are important. Human behavior is naturally rich and diverse. Cost/reward learning, as an efficient way to learn and…

Inverse reinforcement learning (IRL) learns a reward function and a corresponding policy that best fit the demonstration data of an expert. However, in the current IRL setting, the learner is isolated from the expert and can only passively…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Recently, In-context Learning (ICL) has become a significant inference paradigm in Large Multimodal Models (LMMs), utilizing a few in-context demonstrations (ICDs) to prompt LMMs for new tasks. However, the synergistic effects in multimodal…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Implicit in-context learning (ICL) has newly emerged as a promising paradigm that simulates ICL behaviors in the representation space of Large Language Models (LLMs), aiming to attain few-shot performance at zero-shot cost. However,…