相关论文: Asking for Help: Failure Prediction in Behavioral …

Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Current work on robot failure detection and correction typically operate in a post hoc manner, analyzing errors and applying corrections only after failures occur. This work introduces CycleVLA, a system that equips Vision-Language-Action…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

Behavioural cloning uses a dataset of demonstrations to learn a behavioural policy. To overcome various learning and policy adaptation problems, we propose to use latent space to index a demonstration dataset, instantly access similar…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an…

Learning from demonstrations is a popular approach to train AI models; however, their vulnerability to adversarial attacks remains underexplored. We present the first systematic study of adversarial attacks, across a range of both classic…

Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamentally constrains the scale of the data. In this paper, we…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

While vision-language-action models (VLAs) have shown promising robotic behaviors across a diverse set of manipulation tasks, they achieve limited success rates when deployed on novel tasks out of the box. To allow these policies to safely…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon tasks and evaluated on benchmarks, such…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…