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

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

Imitation learning, which enables robots to learn behaviors from demonstrations by human, has emerged as a promising solution for generating robot motions in such environments. The imitation learning-based robot motion generation method,…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…