Related papers: Blindfolded Experts Generalize Better: Insights fr…

Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used explicit models. We present extensive experiments on…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

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…

A widely used paradigm to improve the generalization performance of high-capacity neural models is through the addition of auxiliary unsupervised tasks during supervised training. Tasks such as similarity matching and input reconstruction…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are non-causal: the training procedure is unaware of the causal…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Imitation learning trains policies to map from input observations to the actions that an expert would choose. In this setting, distribution shift frequently exacerbates the effect of misattributing expert actions to nuisance correlates…

When an autonomous robot learns how to execute actions, it is of interest to know if and when the execution policy can be generalised to variations of the learning scenarios. This can inform the robot about the necessity of additional…

Acquiring multiple skills has commonly involved collecting a large number of expert demonstrations per task or engineering custom reward functions. Recently it has been shown that it is possible to acquire a diverse set of skills by…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…