相关论文: Error-Aware Imitation Learning from Teleoperation …
Imitation learning (IL) enables efficient skill acquisition from demonstrations but often struggles with long-horizon tasks and high-precision control due to compounding errors. Residual policy learning offers a promising, model-agnostic…
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…
High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
Large-scale pre-trained Vision-Language Models (VLMs) have significantly advanced transfer learning across diverse tasks. However, adapting these models with limited few-shot data often leads to overfitting, undermining their ability to…
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…
Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…
A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-tuning to bridge the gap between…
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…
Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…
In offline Imitation Learning (IL), one of the main challenges is the \textit{covariate shift} between the expert observations and the actual distribution encountered by the agent, because it is difficult to determine what action an agent…
Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…
In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…
Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…
Recent advances in imitative reinforcement learning (IRL) have considerably enhanced the ability of autonomous agents to assimilate expert demonstrations, leading to rapid skill acquisition in a range of demanding tasks. However, such…
Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its practical deployment is often hindered by covariate shift and the need for continuous expert monitoring to recover from failures…
An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…