相关论文: Skeletal Feature Compensation for Imitation Learni…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Robots applied in therapeutic scenarios, for instance in the therapy of individuals with Autism Spectrum Disorder, are sometimes used for imitation learning activities in which a person needs to repeat motions by the robot. To simplify the…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

While Adversarial Imitation Learning (AIL) algorithms have recently led to state-of-the-art results on various imitation learning benchmarks, it is unclear as to what impact various design decisions have on performance. To this end, we…

The goal of imitation learning (IL) is to learn a good policy from high-quality demonstrations. However, the quality of demonstrations in reality can be diverse, since it is easier and cheaper to collect demonstrations from a mix of experts…

Human skeleton point clouds are commonly used to automatically classify and predict the behaviour of others. In this paper, we use a contrastive self-supervised learning method, SimCLR, to learn representations that capture the semantics of…

Online tracking of multiple objects in videos requires strong capacity of modeling and matching object appearances. Previous methods for learning appearance embedding mostly rely on instance-level matching without considering the temporal…

Self-supervised learning (SSL), which aims to learn meaningful prior representations from unlabeled data, has been proven effective for skeleton-based action understanding. Different from the image domain, skeleton data possesses sparser…

Human skull identification is an arduous task, traditionally requiring the expertise of forensic artists and anthropologists. This paper is an effort to automate the process of matching skull images to digital face images, thereby…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

How do the neural networks distinguish two images? It is of critical importance to understand the matching mechanism of deep models for developing reliable intelligent systems for many risky visual applications such as surveillance and…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Beam search is widely used for approximate decoding in structured prediction problems. Models often use a beam at test time but ignore its existence at train time, and therefore do not explicitly learn how to use the beam. We develop an…