相关论文: One-Shot Visual Imitation Learning via Meta-Learni…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…

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.…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Majority of the modern meta-learning methods for few-shot classification tasks operate in two phases: a meta-training phase where the meta-learner learns a generic representation by solving multiple few-shot tasks sampled from a large…

Humans can robustly learn novel visual concepts even when images undergo various deformations and lose certain information. Mimicking the same behavior and synthesizing deformed instances of new concepts may help visual recognition systems…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

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…

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…

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…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

This article reviews meta-learning also known as learning-to-learn which seeks rapid and accurate model adaptation to unseen tasks with applications in highly automated AI, few-shot learning, natural language processing and robotics. Unlike…

Consider the following problem: given a few demonstrations of a task across a few different objects, how can a robot learn to perform that same task on new, previously unseen objects? This is challenging because the large variety of objects…

Transfer-learning and meta-learning are two effective methods to apply knowledge learned from large data sources to new tasks. In few-class, few-shot target task settings (i.e. when there are only a few classes and training examples…

Imitation learning has been applied to mimic the operation of a human cameraman in several autonomous cinematography systems. To imitate different filming styles, existing methods train multiple models, where each model handles a particular…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…