相关论文: Affordance Learning from Play for Sample-Efficient…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Learning robot manipulation through deep reinforcement learning in environments with sparse rewards is a challenging task. In this paper we address this problem by introducing a notion of imaginary object goals. For a given manipulation…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing…

Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…

Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Object affordance is an important concept in human-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Establishing a reliable and iteratively refined robotic system is essential for deploying real-world applications. While Vision-Language-Action (VLA) models are widely recognized as the foundation model for such robotic deployment, their…

There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…

Inspired by Gibson's notion of object affordances in human vision, we ask the question: how can an agent learn to predict an entire action policy for a novel object or environment given only a single glimpse? To tackle this problem, we…