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

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

Despite its astounding success in learning deeper multi-dimensional data, the performance of deep learning declines on new unseen tasks mainly due to its focus on same-distribution prediction. Moreover, deep learning is notorious for poor…

We present a new approach, called meta-meta classification, to learning in small-data settings. In this approach, one uses a large set of learning problems to design an ensemble of learners, where each learner has high bias and low variance…

Few-Shot Learning is the challenge of training a model with only a small amount of data. Many solutions to this problem use meta-learning algorithms, i.e. algorithms that learn to learn. By sampling few-shot tasks from a larger dataset, we…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

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…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Robots can generalize manipulation skills between different scenarios by adapting to the features of the objects being manipulated. Selecting the set of relevant features for generalizing skills has usually been performed manually by a…

Multimodal few-shot learning is challenging due to the large domain gap between vision and language modalities. Existing methods are trying to communicate visual concepts as prompts to frozen language models, but rely on hand-engineered…

In this paper, we propose a learning algorithm that enables a model to quickly exploit commonalities among related tasks from an unseen task distribution, before quickly adapting to specific tasks from that same distribution. We investigate…

A general-purpose robot should be able to master a wide range of tasks and quickly learn a novel one by leveraging past experiences. One-shot imitation learning (OSIL) approaches this goal by training an agent with (pairs of) expert…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

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…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

There currently exist two main approaches to reproducing visual appearance using Machine Learning (ML): The first is training models that generalize over different instances of a problem, e.g., different images of a dataset. As one-shot…