相关论文: Third-Person Visual Imitation Learning via Decoupl…

Humanoid robots can benefit from their similarity to the human shape by learning from humans. When humans teach other humans how to perform actions, they often demonstrate the actions, and the learning human imitates the demonstration to…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Humans learn to imitate by observing others. However, robot imitation learning generally requires expert demonstrations in the first-person view (FPV). Collecting such FPV videos for every robot could be very expensive. Third-person…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we…

We propose a new method for learning a generalized animatable neural human representation from a sparse set of multi-view imagery of multiple persons. The learned representation can be used to synthesize novel view images of an arbitrary…