相关论文: Cross Domain Robot Imitation with Invariant Repres…

To achieve good performance in face recognition, a large scale training dataset is usually required. A simple yet effective way to improve recognition performance is to use a dataset as large as possible by combining multiple datasets in…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

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…

Out-of-distribution generalization is a common problem that expects the model to perform well in the different distributions even far from the train data. A popular approach to addressing this issue is invariant learning (IL), in which the…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

We introduce Correspondence-Oriented Imitation Learning (COIL), a conditional policy learning framework for visuomotor control with a flexible task representation in 3D. At the core of our approach, each task is defined by the intended…

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…

Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…

Demonstrations are an effective alternative to task specification for learning agents in settings where designing a reward function is difficult. However, demonstrating expert behavior in the action space of the agent becomes unwieldy when…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Social bots increasingly infiltrate online platforms through sophisticated disguises, threatening healthy information ecosystems. Existing detection methods often rely on modality specific cues or local contextual features, making them…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

Training a robotic policy from scratch using deep reinforcement learning methods can be prohibitively expensive due to sample inefficiency. To address this challenge, transferring policies trained in the source domain to the target domain…

A general-purpose robot should be able to master a wide range of tasks and quickly learn a novel one by leveraging past experiences. One-shot imitation learning (OSIL) approaches this goal by training an agent with (pairs of) expert…

In multi-task reinforcement learning there are two main challenges: at training time, the ability to learn different policies with a single model; at test time, inferring which of those policies applying without an external signal. In the…