相关论文: One-shot Visual Imitation via Attributed Waypoints…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Imitation learning has proven to be useful for many real-world problems, but approaches such as behavioral cloning suffer from data mismatch and compounding error issues. One attempt to address these limitations is the DAgger algorithm,…

Imitation learning has been widely applied to various autonomous systems thanks to recent development in interactive algorithms that address covariate shift and compounding errors induced by traditional approaches like behavior cloning.…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

A common failure mode for policies trained with imitation is compounding execution errors at test time. When the learned policy encounters states that are not present in the expert demonstrations, the policy fails, leading to degenerate…

Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribution (OOD) states in the training set,…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Developing agents for complex and underspecified tasks, where no clear objective exists, remains challenging but offers many opportunities. This is especially true in video games, where simulated players (bots) need to play realistically,…

Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…

Pre-trained vision-language models have inspired much research on few-shot learning. However, with only a few training images, there exist two crucial problems: (1) the visual feature distributions are easily distracted by class-irrelevant…

One-shot action recognition allows the recognition of human-performed actions with only a single training example. This can influence human-robot-interaction positively by enabling the robot to react to previously unseen behaviour. We…

Learning from a few examples remains a key challenge in machine learning. Despite recent advances in important domains such as vision and language, the standard supervised deep learning paradigm does not offer a satisfactory solution for…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Imitation learning has been applied to mimic the operation of a human cameraman in several autonomous cinematography systems. To imitate different filming styles, existing methods train multiple models, where each model handles a particular…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Learning policies from high-dimensional visual inputs, such as pixels and point clouds, is crucial in various applications. Visual reinforcement learning is a promising approach that directly trains policies from visual observations,…

Deep Imitation Learning requires a large number of expert demonstrations, which are not always easy to obtain, especially for complex tasks. A way to overcome this shortage of labels is through data augmentation. However, this cannot be…

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…

Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…