相关论文: Demonstrate Once, Imitate Immediately (DOME): Lear…

We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…

We introduce a one-shot learning approach for video object tracking. The proposed algorithm requires seeing the object to be tracked only once, and employs an external memory to store and remember the evolving features of the foreground…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

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…

Prompt-based learning has emerged as a successful paradigm in natural language processing, where a single general-purpose language model can be instructed to perform any task specified by input prompts. Yet task specification in robotics…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

Robots learning a new manipulation task from a small amount of demonstrations are increasingly demanded in different workspaces. A classifier model assessing the quality of actions can predict the successful completion of a task, which can…

Learning deformable 3D objects from 2D images is often an ill-posed problem. Existing methods rely on explicit supervision to establish multi-view correspondences, such as template shape models and keypoint annotations, which restricts…

Video Object Segmentation (VOS) aims to track objects across frames in a video and segment them based on the initial annotated frame of the target objects. Previous VOS works typically rely on fully annotated videos for training. However,…

We present an approach to sensorimotor control in immersive environments. Our approach utilizes a high-dimensional sensory stream and a lower-dimensional measurement stream. The cotemporal structure of these streams provides a rich…

DAMON leverages manifold learning and variational autoencoding to achieve obstacle avoidance, allowing for motion planning through adaptive graph traversal in a pre-learned low-dimensional hierarchically-structured manifold graph that…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Robotic imitation learning is often treated as reproducing demonstrated actions, but actions are inherently embodiment-specific. When demonstrations come from humans or robots with different morphology, kinematics, or action spaces, this…

Data collection in imitation learning often requires significant, laborious human supervision, such as numerous demonstrations, and/or frequent environment resets for methods that incorporate reinforcement learning. In this work, we propose…

Acquiring a multi-task imitation policy in 3D manipulation poses challenges in terms of scene understanding and action prediction. Current methods employ both 3D representation and multi-view 2D representation to predict the poses of the…

In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a…