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

In this paper, we propose a novel multi-task learning (MTL) framework, called Self-Paced Multi-Task Learning (SPMTL). Different from previous works treating all tasks and instances equally when training, SPMTL attempts to jointly learn the…

Imitation learning with a privileged teacher has proven effective for learning complex control behaviors from high-dimensional inputs, such as images. In this framework, a teacher is trained with privileged task information, while a student…

In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory generation remains fragile under environmental variation. We propose SAIL, a framework that reframes robot imitation as an iterative…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability…

With the advent of deep learning, many dense prediction tasks, i.e. tasks that produce pixel-level predictions, have seen significant performance improvements. The typical approach is to learn these tasks in isolation, that is, a separate…

This work proposes Multi-task Meta Learning (MTML), integrating two learning paradigms Multi-Task Learning (MTL) and meta learning, to bring together the best of both worlds. In particular, it focuses simultaneous learning of multiple…

Autonomous driving requires operation in different behavioral modes ranging from lane following and intersection crossing to turning and stopping. However, most existing deep learning approaches to autonomous driving do not consider the…

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…

When faced with learning a set of inter-related tasks from a limited amount of usable data, learning each task independently may lead to poor generalization performance. Multi-Task Learning (MTL) exploits the latent relations between tasks…

In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Humans are experts at high-fidelity imitation -- closely mimicking a demonstration, often in one attempt. Humans use this ability to quickly solve a task instance, and to bootstrap learning of new tasks. Achieving these abilities in…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

We introduce One-Shot Dual-Arm Imitation Learning (ODIL), which enables dual-arm robots to learn precise and coordinated everyday tasks from just a single demonstration of the task. ODIL uses a new three-stage visual servoing (3-VS) method…

Multi-task learning is to improve the performance of the model by transferring and exploiting common knowledge among tasks. Existing MTL works mainly focus on the scenario where label sets among multiple tasks (MTs) are usually the same,…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

In this work, we propose an information theory based framework DeepMI to train deep neural networks (DNN) using Mutual Information (MI). The DeepMI framework is especially targeted but not limited to the learning of real world tasks in an…