相关论文: Transfering Hierarchical Structure with Dual Meta …

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve temporal reasoning and bilateral imitation…

Successful collaboration requires team members to stay aligned, especially in complex sequential tasks. Team members must dynamically coordinate which subtasks to perform and in what order. However, real-world constraints like partial…

Meta learning is a promising solution to few-shot learning problems. However, existing meta learning methods are restricted to the scenarios where training and application tasks share the same out-put structure. To obtain a meta model…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Assigning repetitive and physically-demanding construction tasks to robots can alleviate human workers's exposure to occupational injuries. Transferring necessary dexterous and adaptive artisanal construction craft skills from workers to…

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the…

Hierarchical Imitation Learning (HIL) is a promising approach for tackling long-horizon decision-making tasks. While it is a challenging task due to the lack of detailed supervisory labels for sub-goal learning, and reliance on hundreds to…

In order to learn quickly with few samples, meta-learning utilizes prior knowledge learned from previous tasks. However, a critical challenge in meta-learning is task uncertainty and heterogeneity, which can not be handled via globally…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

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…

Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high success rates and generalization requires high cost, e.g.,…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

We introduce Hierarchical Transformers for Meta-Reinforcement Learning (HTrMRL), a powerful online meta-reinforcement learning approach. HTrMRL aims to address the challenge of enabling reinforcement learning agents to perform effectively…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Recent data-driven methods leveraging deep reinforcement learning have been an effective paradigm for developing controllers that enable physically simulated characters to produce natural human-like behaviors. However, these data-driven…

To accurately pour drinks into various containers is an essential skill for service robots. However, drink pouring is a dynamic process and difficult to model. Traditional deep imitation learning techniques for implementing autonomous…

Multi-instance learning is common for computer vision tasks, especially in biomedical image processing. Traditional methods for multi-instance learning focus on designing feature aggregation methods and multi-instance classifiers, where the…

Due to its empirical success in few-shot classification and reinforcement learning, meta-learning has recently received significant interest. Meta-learning methods leverage data from previous tasks to learn a new task in a sample-efficient…