Related papers: Zero-shot Imitation Learning by Latent Topology Ma…
Zero-shot imitation learning algorithms hold the promise of reproducing unseen behavior from as little as a single demonstration at test time. Existing practical approaches view the expert demonstration as a sequence of goals, enabling…
The current dominant paradigm for imitation learning relies on strong supervision of expert actions to learn both 'what' and 'how' to imitate. We pursue an alternative paradigm wherein an agent first explores the world without any expert…
Behavioral cloning uses a dataset of demonstrations to learn a policy. To overcome computationally expensive training procedures and address the policy adaptation problem, we propose to use latent spaces of pre-trained foundation models to…
Zero-shot learning (ZSL) which aims to recognize unseen object classes by only training on seen object classes, has increasingly been of great interest in Machine Learning, and has registered with some successes. Most existing ZSL methods…
Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…
Zero-shot learning is a new paradigm to classify objects from classes that are not available at training time. Zero-shot learning (ZSL) methods have attracted considerable attention in recent years because of their ability to classify…
Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…
One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…
We focus on the problem of imitation learning from visual observations, where the learning agent has access to videos of experts as its sole learning source. The challenges of this framework include the absence of expert actions and the…
Zero-shot learning (ZSL) refers to the problem of learning to classify instances from the novel classes (unseen) that are absent in the training set (seen). Most ZSL methods infer the correlation between visual features and attributes to…
Zero-Shot Learning (ZSL) promises to scale visual recognition by bypassing the conventional model training requirement of annotated examples for every category. This is achieved by establishing a mapping connecting low-level features and a…
While developments in machine learning led to impressive performance gains on big data, many human subjects data are, in actuality, small and sparsely labeled. Existing methods applied to such data often do not easily generalize to…
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often…
Zero-shot learning (ZSL) aims to predict unseen classes whose samples have never appeared during training. One of the most effective and widely used semantic information for zero-shot image classification are attributes which are…
Zero-shot learning (ZSL) aims to transfer knowledge from seen classes to semantically related unseen classes, which are absent during training. The promising strategies for ZSL are to synthesize visual features of unseen classes conditioned…
We present a meta-learning based generative model for zero-shot learning (ZSL) towards a challenging setting when the number of training examples from each \emph{seen} class is very few. This setup contrasts with the conventional ZSL…
Zero-shot learning (ZSL) aims to recognize unseen image categories by learning an embedding space between image and semantic representations. For years, among existing works, it has been the center task to learn the proper mapping matrices…
In collaborative tasks, being able to adapt to your teammates is a necessary requirement for success. When teammates are heterogeneous, such as in human-agent teams, agents need to be able to observe, recognize, and adapt to their human…
In the same way that generative models today conduct most of their training in a self-supervised fashion, how can agentic models conduct their training in a self-supervised fashion, interactively exploring, learning, and preparing to…
The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…