相关论文: Neural Task Success Classifiers for Robotic Manipu…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Recognizing new objects by learning from a few labeled examples in an evolving environment is crucial to obtain excellent generalization ability for real-world machine learning systems. A typical setting across current meta learning…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Classification algorithms aim to predict an unknown label (e.g., a quality class) for a new instance (e.g., a product). Therefore, training samples (instances and labels) are used to deduct classification hypotheses. Often, it is relatively…

Neural networks are not learning optimal decision boundaries. We show that decision boundaries are situated in areas of low training data density. They are impacted by few training samples which can easily lead to overfitting. We provide a…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Meta-learning algorithms produce feature extractors which achieve state-of-the-art performance on few-shot classification. While the literature is rich with meta-learning methods, little is known about why the resulting feature extractors…

Classifier calibration does not always go hand in hand with the classifier's ability to separate the classes. There are applications where good classifier calibration, i.e. the ability to produce accurate probability estimates, is more…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

Consider a natural language sentence describing a specific step in a food recipe. In such instructions, recognizing actions (such as press, bake, etc.) and the resulting changes in the state of the ingredients (shape molded, custard cooked,…

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.…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Action segmentation of behavioral videos is the process of labeling each frame as belonging to one or more discrete classes, and is a crucial component of many studies that investigate animal behavior. A wide range of algorithms exist to…

Video generative models demonstrate great promise in robotics by serving as visual planners or as policy supervisors. When pretrained on internet-scale data, such video models intimately understand alignment with natural language, and can…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

Unlike traditional learning to rank models that depend on hand-crafted features, neural representation learning models learn higher level features for the ranking task by training on large datasets. Their ability to learn new features…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Metalearning and multitask learning are two frameworks for solving a group of related learning tasks more efficiently than we could hope to solve each of the individual tasks on their own. In multitask learning, we are given a fixed set of…