相关论文: Shared Multi-Task Imitation Learning for Indoor Se…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

Humans are capable of learning a new behavior by observing others perform the skill. Robots can also implement this by imitation learning. Furthermore, if with external guidance, humans will master the new behavior more efficiently. So how…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

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…

In this work, we introduce a new perspective for learning transferable content in multi-task imitation learning. Humans are able to transfer skills and knowledge. If we can cycle to work and drive to the store, we can also cycle to the…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Multimodal demonstrations provide robots with an abundance of information to make sense of the world. However, such abundance may not always lead to good performance when it comes to learning sensorimotor control policies from human…

This paper presents a technical approach to robot learning of motor skills which combines active intrinsically motivated learning with imitation learning. Our architecture, called SGIM-D, allows efficient learning of high-dimensional…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

Model-based imitation learning (MBIL) is a popular reinforcement learning method that improves sample efficiency on high-dimension input sources, such as images and videos. Following the convention of MBIL research, existing algorithms are…