Related papers: Think Small, Act Big: Primitive Prompt Learning fo…

Preference-based reinforcement learning (PbRL) has emerged as a promising paradigm for teaching robots complex behaviors without reward engineering. However, its effectiveness is often limited by two critical challenges: the reliance on…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Much literature has shown that prompt-based learning is an efficient method to make use of the large pre-trained language model. Recent works also exhibit the possibility of steering a chatbot's output by plugging in an appropriate prompt.…

Prompt engineering has emerged as an indispensable technique for extending the capabilities of large language models (LLMs) and vision-language models (VLMs). This approach leverages task-specific instructions, known as prompts, to enhance…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…

Nowadays, real-world applications often face streaming data, which requires the learning system to absorb new knowledge as data evolves. Continual Learning (CL) aims to achieve this goal and meanwhile overcome the catastrophic forgetting of…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

Incremental learning aims to overcome catastrophic forgetting when learning deep networks from sequential tasks. With impressive learning efficiency and performance, prompt-based methods adopt a fixed backbone to sequential tasks by…

With their remarkable ability to generate code, large language models (LLMs) are a transformative technology for computing education practice. They have created an urgent need for educators to rethink pedagogical approaches and teaching…

The adaptation of large-scale vision-language models (VLMs) to downstream tasks with limited labeled data remains a significant challenge. While parameter-efficient prompt learning methods offer a promising path, they often suffer from…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Prompt-based continual learning provides a rehearsal-free solution by tuning small sets of parameters while keeping pre-trained models frozen. To meet the complex demands of sequential tasks, it is crucial to integrate task-specific…

Large Language Models (LLMs) have demonstrated profound impact on Natural Language Processing (NLP) tasks. However, their effective deployment across diverse domains often require domain-specific adaptation strategies, as generic models may…

Pre-trained language models (PLM) have marked a huge leap in neural dialogue modeling. While PLMs are pre-trained on large-scale text corpora, they are usually fine-tuned on scarce dialogue data with specific domain knowledge and dialogue…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Large language models offer new ways of empowering people to program robot applications-namely, code generation via prompting. However, the code generated by LLMs is susceptible to errors. This work reports a preliminary exploration that…

We introduce LOTUS, a continual imitation learning algorithm that empowers a physical robot to continuously and efficiently learn to solve new manipulation tasks throughout its lifespan. The core idea behind LOTUS is constructing an…