相关论文: Towards More Generalizable One-shot Visual Imitati…

The domain of robotics is challenging to apply deep reinforcement learning due to the need for large amounts of data and for ensuring safety during learning. Curriculum learning has shown good performance in terms of sample- efficient deep…

In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…

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…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

New classes arise frequently in our ever-changing world, e.g., emerging topics in social media and new types of products in e-commerce. A model should recognize new classes and meanwhile maintain discriminability over old classes. Under…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Vision systems mounted on home robots need to interact with unseen classes in changing environments. Robots have limited computational resources, labelled data and storage capability. These requirements pose some unique challenges: models…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose \textbf{Maniwhere}, a generalizable framework tailored for visual reinforcement learning, enabling the…

Multiple autonomous underwater vehicles (multi-AUV) can cooperatively accomplish tasks that a single AUV cannot complete. Recently, multi-agent reinforcement learning has been introduced to control of multi-AUV. However, designing efficient…

Apprenticeship learning has recently attracted a wide attention due to its capability of allowing robots to learn physical tasks directly from demonstrations provided by human experts. Most previous techniques assumed that the state space…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

Recently, zero-shot learning (ZSL) emerged as an exciting topic and attracted a lot of attention. ZSL aims to classify unseen classes by transferring the knowledge from seen classes to unseen classes based on the class description. Despite…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior…

Reinforcement learning with multiple, potentially conflicting objectives is pervasive in real-world applications, while this problem remains theoretically under-explored. This paper tackles the multi-objective reinforcement learning (MORL)…

Deep learning has achieved remarkable success in object recognition tasks through the availability of large scale datasets like ImageNet. However, deep learning systems suffer from catastrophic forgetting when learning incrementally without…