相关论文: Skeletal Feature Compensation for Imitation Learni…

Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusable robot manipulation skills from unstructured human videos…

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…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

Self-supervised representation learning for human action recognition has developed rapidly in recent years. Most of the existing works are based on skeleton data while using a multi-modality setup. These works overlooked the differences in…

We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g.,…

Semantic part segmentation provides an intricate and interpretable understanding of an object, thereby benefiting numerous downstream tasks. However, the need for exhaustive annotations impedes its usage across diverse object types. This…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

In this paper, we introduce a novel self-supervised learning (SSL) loss for image representation learning. There is a growing belief that generalization in deep neural networks is linked to their ability to discriminate object shapes. Since…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

The self-supervised pretraining paradigm has achieved great success in learning 3D action representations for skeleton-based action recognition using contrastive learning. However, learning effective representations for skeleton-based…

We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with stark differences in their embodiments -- shape, actions,…

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method…

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…

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…

Despite great success in human parsing, progress for parsing other deformable articulated objects, like animals, is still limited by the lack of labeled data. In this paper, we use synthetic images and ground truth generated from CAD animal…

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…

Generative models, as a powerful technique for generation, also gradually become a critical tool for recognition tasks. However, in skeleton-based action recognition, the features obtained from existing pre-trained generative methods…

Imitation learning often needs a large demonstration set in order to handle the full range of situations that an agent might find itself in during deployment. However, collecting expert demonstrations can be expensive. Recent work in…

We study the question of how to imitate tasks across domains with discrepancies such as embodiment, viewpoint, and dynamics mismatch. Many prior works require paired, aligned demonstrations and an additional RL step that requires…