相关论文: Recent Advances in Imitation Learning from Observa…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

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…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

We study interactive imitation learning, where a learner interactively queries a demonstrating expert for action annotations, aiming to learn a policy that has performance competitive with the expert, using as few annotations as possible.…

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…

We study the problem of imitating object interactions from Internet videos. This requires understanding the hand-object interactions in 4D, spatially in 3D and over time, which is challenging due to mutual hand-object occlusions. In this…

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…

In real-world reinforcement learning (RL) systems, various forms of {\it impaired observability} can complicate matters. These situations arise when an agent is unable to observe the most recent state of the system due to latency or lossy…

Humans can naturally learn to execute a new task by seeing it performed by other individuals once, and then reproduce it in a variety of configurations. Endowing robots with this ability of imitating humans from third person is a very…

In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use…

Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic demonstrations on a robotic manipulator requires the teacher 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…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…