Related papers: SPECI: Skill Prompts based Hierarchical Continual …
Class-Incremental Learning (CIL) enables learning systems to continuously adapt to evolving data streams. With the advancement of pre-training, leveraging pre-trained vision-language models (e.g., CLIP) offers a promising starting point for…
Challenging manipulation tasks can be solved effectively by combining individual robot skills, which must be parameterized for the concrete physical environment and task at hand. This is time-consuming and difficult for human programmers,…
Inverse Reinforcement Learning (IRL) aims to reconstruct the reward function from expert demonstrations to facilitate policy learning, and has demonstrated its remarkable success in imitation learning. To promote expert-like behavior,…
Invariance learning methods aim to learn invariant features in the hope that they generalize under distributional shifts. Although many tasks are naturally characterized by continuous domains, current invariance learning techniques…
Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…
The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…
Continual learning (CL) aims to equip models with the ability to learn from a stream of tasks without forgetting previous knowledge. With the progress of vision-language models like Contrastive Language-Image Pre-training (CLIP), their…
Building a lifelong robot that can effectively leverage prior knowledge for continuous skill acquisition remains significantly challenging. Despite the success of experience replay and parameter-efficient methods in alleviating catastrophic…
Continual learning (CL) is a paradigm that aims to replicate the human ability to learn and accumulate knowledge continually without forgetting previous knowledge and transferring it to new tasks. Recent instruction tuning (IT) involves…
Vision-language-action (VLA) models show promising knowledge accumulation ability from pretraining, yet continual learning in VLA remains challenging, especially for efficient adaptation. Existing continual imitation learning (CIL) methods…
In this paper, we present \textbf{C}ont\textbf{E}xtual \textbf{I}mitation \textbf{L}earning~(CEIL), a general and broadly applicable algorithm for imitation learning (IL). Inspired by the formulation of hindsight information matching, we…
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…
Continual learning (CL) enables models to adapt to new tasks and environments without forgetting previously learned knowledge. While current CL setups have ignored the relationship between labels in the past task and the new task with or…
The application of reinforcement learning (RL) in robotic control is still limited in the environments with sparse and delayed rewards. In this paper, we propose a practical self-imitation learning method named Self-Imitation Learning with…
Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Modern deep learning systems are typically deployed as open-loop function approximators: they map inputs to outputs in a single pass, without regulating how much computation or explanatory effort is spent on a given case. In safety-critical…
Continual learning endeavors to equip the model with the capability to integrate current task knowledge while mitigating the forgetting of past task knowledge. Inspired by prompt tuning, prompt-based methods maintain a frozen backbone and…
Class-Incremental Learning (CIL) enables models to continuously integrate new knowledge while mitigating catastrophic forgetting. Driven by the remarkable generalization of CLIP, leveraging pre-trained vision-language models has become a…
Robots are essential in industrial manufacturing due to their reliability and efficiency. They excel in performing simple and repetitive unimanual tasks but still face challenges with bimanual manipulation. This difficulty arises from the…