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

Developing algorithms that are able to generalize to a novel task given only a few labeled examples represents a fundamental challenge in closing the gap between machine- and human-level performance. The core of human cognition lies in the…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Meta-learning and other approaches to few-shot learning are widely studied for image recognition, and are increasingly applied to other vision tasks such as pose estimation and dense prediction. This naturally raises the question of whether…

Meta-learning, or learning to learn, is the science of systematically observing how different machine learning approaches perform on a wide range of learning tasks, and then learning from this experience, or meta-data, to learn new tasks…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

Many prediction problems, such as those that arise in the context of robotics, have a simplifying underlying structure that, if known, could accelerate learning. In this paper, we present a strategy for learning a set of neural network…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

Robots need to learn behaviors in intuitive and practical ways for widespread deployment in human environments. To learn a robot behavior end-to-end, we train a variant of the ResNet that maps eye-in-hand camera images to end-effector…

Robots are increasingly deployed across diverse domains to tackle tasks requiring novel skills. However, current robot learning algorithms for acquiring novel skills often rely on demonstration datasets or environment interactions,…

Few-shot learning is challenging for learning algorithms that learn each task in isolation and from scratch. In contrast, meta-learning learns from many related tasks a meta-learner that can learn a new task more accurately and faster with…

Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Meta-learning provides a promising way for learning to efficiently learn and achieves great success in many applications. However, most meta-learning literature focuses on dealing with tasks from a same domain, making it brittle to…

Learning to learn is a powerful paradigm for enabling models to learn from data more effectively and efficiently. A popular approach to meta-learning is to train a recurrent model to read in a training dataset as input and output the…

Few-shot learning aims to learn classifiers for new classes with only a few training examples per class. Most existing few-shot learning approaches belong to either metric-based meta-learning or optimization-based meta-learning category,…

A key challenge in robotic manipulation in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown promise in transferring trained policies to new tasks based on…