相关论文: Incremental learning of high-level concepts by imi…

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 is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Imitation learning enables robots to acquire complex manipulation skills from human demonstrations, but current methods rely solely on low-level sensorimotor data while ignoring the rich semantic knowledge humans naturally possess about…

Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

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…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

We introduce a lifelong imitation learning framework that enables continual policy refinement across sequential tasks under realistic memory and data constraints. Our approach departs from conventional experience replay by operating…

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Imitation learning allows social robots to learn new skills from human teachers without substantial manual programming, but it is difficult for robotic imitation learning systems to generalize demonstrated skills as well as human learners…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Recent developments in imitation learning have considerably advanced robotic manipulation. However, current techniques in imitation learning can suffer from poor generalization, limiting performance even under relatively minor domain…