相关论文: Learning to Generalize Across Long-Horizon Tasks f…

We consider imitation learning in the low-data regime, where only a limited number of expert demonstrations are available. In this setting, methods that rely on large-scale pretraining or high-capacity architectures can be difficult to…

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

Large language models (LLMs) have acquired the ability to solve general tasks by utilizing instruction finetuning (IFT). However, IFT still relies heavily on instance training of extensive task data, which greatly limits the adaptability of…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…

Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of…

Machine learning for robot manipulation promises to unlock generalization to novel tasks and environments. But how should we measure the progress of these policies towards generalization? Evaluating and quantifying generalization is the…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Imitation learning benchmarks often lack sufficient variation between training and evaluation, limiting meaningful generalisation assessment. We introduce Labyrinth, a benchmarking environment designed to test generalisation with precise…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts,…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

We study generalizable policy learning from demonstrations for complex low-level control (e.g., contact-rich object manipulations). We propose a novel hierarchical imitation learning method that utilizes sub-optimal demos. Firstly, we…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…