相关论文: Learning from Demonstration with Weakly Supervised…

Robot-assisted catheterization has garnered a good attention for its potentials in treating cardiovascular diseases. However, advancing surgeon-robot collaboration still requires further research, particularly on task-specific automation.…

Training deep neural networks requires massive amounts of training data, but for many tasks only limited labeled data is available. This makes weak supervision attractive, using weak or noisy signals like the output of heuristic methods or…

In this paper, we present a method to learn a visual representation adapted for e-commerce products. Based on weakly supervised learning, our model learns from noisy datasets crawled on e-commerce website catalogs and does not require any…

A growing number of machine learning scenarios rely on knowledge distillation where one uses the output of a surrogate model as labels to supervise the training of a target model. In this work, we provide a sharp characterization of this…

Collecting large-scale medical datasets with fine-grained annotations is time-consuming and requires experts. For this reason, weakly supervised learning aims at optimising machine learning models using weaker forms of annotations, such as…

In recent years, neuro-symbolic methods have become a popular and powerful approach that augments artificial intelligence systems with the capability to perform abstract, logical, and quantitative deductions with enhanced precision and…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

This paper rethinks steady-hand robotic manipulation by using a weakly supervised framework that fuses calibration-aware perception with admittance control. Unlike conventional automation that relies on labor-intensive 2D labeling, our…

Most of the existing learning models, particularly deep neural networks, are reliant on large datasets whose hand-labeling is expensive and time demanding. A current trend is to make the learning of these models frugal and less dependent on…

Acquiring a diverse repertoire of general-purpose skills remains an open challenge for robotics. In this work, we propose self-supervising control on top of human teleoperated play data as a way to scale up skill learning. Play has two…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Supervisory signals have the potential to make low-dimensional data representations, like those learned by mixture and topic models, more interpretable and useful. We propose a framework for training latent variable models that explicitly…

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…

Existing weak supervision approaches use all the data covered by weak signals to train a classifier. We show both theoretically and empirically that this is not always optimal. Intuitively, there is a tradeoff between the amount of…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Recent years have seen rapid development in Information Extraction, as well as its subtask, Relation Extraction. Relation Extraction is able to detect semantic relations between entities in sentences. Currently, many efficient approaches…

Some Learning from Demonstrations (LfD) methods handle small mismatches in the action spaces of the teacher and student. Here we address the case where the teacher's morphology is substantially different from that of the student. Our…

Supervised machine learning based state-of-the-art computer vision techniques are in general data hungry. Their data curation poses the challenges of expensive human labeling, inadequate computing resources and larger experiment turn around…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…