相关论文: Learning from Observations Using a Single Video De…

Imitation from observation (IfO) is the problem of learning directly from state-only demonstrations without having access to the demonstrator's actions. The lack of action information both distinguishes IfO from most of the literature in…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge…

We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that…

Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…

As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Recent advances in self-supervised representation learning have enabled more efficient and robust model performance without relying on extensive labeled data. However, most works are still focused on images, with few working on videos and…

This paper introduces a novel method for self-supervised video representation learning via feature prediction. In contrast to the previous methods that focus on future feature prediction, we argue that a supervisory signal arising from…

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…

Reinforcement learning is a general method for learning in sequential settings, but it can often be difficult to specify a good reward function when the task is complex. In these cases, preference feedback or expert demonstrations can be…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Imitation from observation (IfO) is a learning paradigm that consists of training autonomous agents in a Markov Decision Process (MDP) by observing expert demonstrations without access to its actions. These demonstrations could be sequences…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

One of the most successful paradigms for reward learning uses human feedback in the form of comparisons. Although these methods hold promise, human comparison labeling is expensive and time consuming, constituting a major bottleneck to…

Learning visuomotor policies from expert demonstrations is an important frontier in modern robotics research, however, most popular methods require copious efforts for collecting teleoperation data and struggle to generalize…