相关论文: Learning Relevant Features for Manipulation Skills…

Animals have remarkable abilities to adapt locomotion to different terrains and tasks. However, robots trained by means of reinforcement learning are typically able to solve only a single task and a transferred policy is usually inferior to…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

Meta-learning algorithms use past experience to learn to quickly solve new tasks. In the context of reinforcement learning, meta-learning algorithms acquire reinforcement learning procedures to solve new problems more efficiently by…

Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Compared to machines, humans are extremely good at classifying images into categories, especially when they possess prior knowledge of the categories at hand. If this prior information is not available, supervision in the form of teaching…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

Typically, loss functions, regularization mechanisms and other important aspects of training parametric models are chosen heuristically from a limited set of options. In this paper, we take the first step towards automating this process,…

Meta-learning, the notion of learning to learn, enables learning systems to quickly and flexibly solve new tasks. This usually involves defining a set of outer-loop meta-parameters that are then used to update a set of inner-loop…

This paper presents a new technique for learning category-level manipulation from raw RGB-D videos of task demonstrations, with no manual labels or annotations. Category-level learning aims to acquire skills that can be generalized to new…

Biological evolution has distilled the experiences of many learners into the general learning algorithms of humans. Our novel meta reinforcement learning algorithm MetaGenRL is inspired by this process. MetaGenRL distills the experiences of…

One reason pretraining on self-supervised linguistic tasks is effective is that it teaches models features that are helpful for language understanding. However, we want pretrained models to learn not only to represent linguistic features,…

Meta-learning is widely used in few-shot classification and function regression due to its ability to quickly adapt to unseen tasks. However, it has not yet been well explored on regression tasks with high dimensional inputs such as images.…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…