相关论文: SKILL-IL: Disentangling Skill and Knowledge in Mul…

Recent progress in state-only imitation learning extends the scope of applicability of imitation learning to real-world settings by relieving the need for observing expert actions. However, existing solutions only learn to extract a…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

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,…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

In cross-lingual language understanding, machine translation is often utilized to enhance the transferability of models across languages, either by translating the training data from the source language to the target, or from the target to…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

Reinforcement learning (RL) has become an increasingly active area of research in recent years. Although there are many algorithms that allow an agent to solve tasks efficiently, they often ignore the possibility that prior experience…

Learning robot skills from scratch is often time-consuming, while reusing data promotes sustainability and improves sample efficiency. This study investigates policy transfer across different robotic platforms, focusing on peg-in-hole task…

Training visual reinforcement learning (RL) in practical scenarios presents a significant challenge, $\textit{i.e.,}$ RL agents suffer from low sample efficiency in environments with variations. While various approaches have attempted to…

In-context learning (ICL) allows transformer-based language models that are pre-trained on general text to quickly learn a specific task with a few "task demonstrations" without updating their parameters, significantly boosting their…

Socially aware robots should be able, among others, to support fluent human-robot collaboration in tasks that require interdependent actions in order to be solved. Towards enhancing mutual performance, collaborative robots should be…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Transformers exhibit in-context learning (ICL): the ability to use novel information presented in the context without additional weight updates. Recent work shows that ICL emerges when models are trained on a sufficiently diverse set of…

Multi-task learning has the potential to improve generalization by maximizing positive transfer between tasks while reducing task interference. Fully achieving this potential is hindered by manually designed architectures that remain static…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…