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Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Learning from Demonstration (LfD) algorithms enable humans to teach new skills to robots through demonstrations. The learned skills can be robustly reproduced from the identical or near boundary conditions (e.g., initial point). However,…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

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…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Programming by demonstration has recently gained much attention due to its user-friendly and natural way to transfer human skills to robots. In order to facilitate the learning of multiple demonstrations and meanwhile generalize to new…

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…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

Understanding the dynamics of generic 3D scenes is fundamentally challenging in computer vision, essential in enhancing applications related to scene reconstruction, motion tracking, and avatar creation. In this work, we address the task as…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…