相关论文: Zero-Shot Visual Imitation

Zero-shot learning (ZSL) can be defined by correctly solving a task where no training data is available, based on previous acquired knowledge from different, but related tasks. So far, this area has mostly drawn the attention from computer…

We present a framework for robots to learn novel visual concepts and tasks via in-situ linguistic interactions with human users. Previous approaches have either used large pre-trained visual models to infer novel objects zero-shot, or added…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

From the beginning of zero-shot learning research, visual attributes have been shown to play an important role. In order to better transfer attribute-based knowledge from known to unknown classes, we argue that an image representation with…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

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…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

Autonomous and learning systems based on Deep Reinforcement Learning have firmly established themselves as a foundation for approaches to creating resilient and efficient Cyber-Physical Energy Systems. However, most current approaches…

Zero-shot learning (ZSL) models rely on learning a joint embedding space where both textual/semantic description of object classes and visual representation of object images can be projected to for nearest neighbour search. Despite the…

We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In…

The reward hypothesis states that all goals and purposes can be understood as the maximization of a received scalar reward signal. However, in practice, defining such a reward signal is notoriously difficult, as humans are often unable to…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

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…

In this paper, we consider domain-adaptive imitation learning with visual observation, where an agent in a target domain learns to perform a task by observing expert demonstrations in a source domain. Domain adaptive imitation learning…

Modern neural collaborative filtering techniques are critical to the success of e-commerce, social media, and content-sharing platforms. However, despite technical advances -- for every new application domain, we need to train an NCF model…