相关论文: Practical Imitation Learning in the Real World via…

Contrastive learning (CL) continuously achieves significant breakthroughs across multiple domains. However, the most common InfoNCE-based methods suffer from some dilemmas, such as \textit{uniformity-tolerance dilemma} (UTD) and…

Reinforcement learning (RL) is playing an increasingly important role in fields such as robotic control and autonomous driving. However, the gap between simulation and the real environment remains a major obstacle to the practical…

Object insertion under tight tolerances ($< \hspace{-.02in} 1mm$) is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent efforts focused on Reinforcement Learning (RL), which often…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Large Language Models (LLMs) have demonstrated impressive in-context learning (ICL) capabilities from few-shot demonstration exemplars. While recent learning-based demonstration selection methods have proven beneficial to ICL by choosing…

Recent advances in Multi-modal Large Language Models (MLLMs) have predominantly focused on enhancing visual perception to improve accuracy. However, a critical question remains unexplored: Do models know when they do not know? Through a…

Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…

In-context learning (ICL) is the ability of a large language model (LLM) to learn a new task from a few demonstrations presented as part of the context. Past studies have attributed a large portion of the success of ICL to the way these…

Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…

Multi-task learning (MTL) has achieved great success in various research domains, such as CV, NLP and IR etc. Due to the complex and competing task correlation, naive training all tasks may lead to inequitable learning, i.e. some tasks are…

In-context learning (ICL) refers to a remarkable capability of pretrained large language models, which can learn a new task given a few examples during inference. However, theoretical understanding of ICL is largely under-explored,…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

While existing query-based 3D end-to-end visual trackers integrate detection and tracking via the tracking-by-attention paradigm, these two chicken-and-egg tasks encounter optimization difficulties when sharing the same parameters. Our…

Continual learning (CL) is a fundamental topic in machine learning, where the goal is to train a model with continuously incoming data and tasks. Due to the memory limit, we cannot store all the historical data, and therefore confront the…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

Existing continual learning techniques focus on either task incremental learning (TIL) or class incremental learning (CIL) problem, but not both. CIL and TIL differ mainly in that the task-id is provided for each test sample during testing…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…