相关论文: Improving Robot-Centric Learning from Demonstratio…

Unsupervised domain adaptation person re-identification (Re-ID) aims to identify pedestrian images within an unlabeled target domain with an auxiliary labeled source-domain dataset. Many existing works attempt to recover reliable identity…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Recent advances in machine learning have shown that Reinforcement Learning from Human Feedback (RLHF) can improve machine learning models and align them with human preferences. Although very successful for Large Language Models (LLMs),…

Existing on-policy imitation learning algorithms, such as DAgger, assume access to a fixed supervisor. However, there are many settings where the supervisor may evolve during policy learning, such as a human performing a novel task or an…

Partial label learning (PLL) is a typical weakly supervised learning framework, where each training instance is associated with a candidate label set, among which only one label is valid. To solve PLL problems, typically methods try to…

Robotic manipulation tasks, such as wiping with a soft sponge, require control from multiple rich sensory modalities. Human-robot interaction, aimed at teaching robots, is difficult in this setting as there is potential for mismatch between…

Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for…

Multimodal federated learning in real-world settings often encounters incomplete and heterogeneous data across clients. This results in misaligned local feature representations that limit the effectiveness of model aggregation. Unlike prior…

Few-shot learning (FSL) is a central problem in meta-learning, where learners must efficiently learn from few labeled examples. Within FSL, feature pre-training has recently become an increasingly popular strategy to significantly improve…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Meta-learning has emerged as a prominent technology for few-shot text classification and has achieved promising performance. However, existing methods often encounter difficulties in drawing accurate class prototypes from support set…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Knowledge Distillation (KD) has been one of the most popu-lar methods to learn a compact model. However, it still suffers from highdemand in time and computational resources caused by sequential train-ing pipeline. Furthermore, the soft…

The current work on reinforcement learning (RL) from demonstrations often assumes the demonstrations are samples from an optimal policy, an unrealistic assumption in practice. When demonstrations are generated by sub-optimal policies or…

Learning representation has been proven to be helpful in numerous machine learning tasks. The success of the majority of existing representation learning approaches often requires a large amount of consistent and noise-free labels. However,…

Learning from Demonstration (LfD) is a useful paradigm for training policies that solve tasks involving complex motions, such as those encountered in robotic manipulation. In practice, the successful application of LfD requires overcoming…

Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…

The rapid development of artificial intelligence and robotics has had a significant impact on our lives, with intelligent systems increasingly performing tasks traditionally performed by humans. Efficient knowledge transfer requires…

Metric learning projects samples into an embedded space, where similarities and dissimilarities are quantified based on their learned representations. However, existing methods often rely on label-guided representation learning, where…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…