相关论文: Curriculum-Based Imitation of Versatile Skills

Imitation learning uses data for training policies to solve complex tasks. However, when the training data is collected from human demonstrators, it often leads to multimodal distributions because of the variability in human actions. Most…

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

A long-cherished vision in robotics is to equip robots with skills that match the versatility and precision of humans. For example, when playing table tennis, a robot should be capable of returning the ball in various ways while precisely…

Curriculum learning techniques are a viable solution for improving the accuracy of automatic models, by replacing the traditional random training with an easy-to-hard strategy. However, the standard curriculum methodology does not…

Curriculum learning and imitation learning have been leveraged extensively in the robotics domain. However, minimal research has been done on leveraging these ideas on control tasks over highly stochastic time-series data. Here, we…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Masked image modeling has been demonstrated as a powerful pretext task for generating robust representations that can be effectively generalized across multiple downstream tasks. Typically, this approach involves randomly masking patches…

We consider the problem of teaching via demonstrations in sequential decision-making settings. In particular, we study how to design a personalized curriculum over demonstrations to speed up the learner's convergence. We provide a unified…

When faced with learning challenging new tasks, humans often follow sequences of steps that allow them to incrementally build up the necessary skills for performing these new tasks. However, in machine learning, models are most often…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Masked prediction has emerged as a promising pretraining paradigm in offline reinforcement learning (RL) due to its versatile masking schemes, enabling flexible inference across various downstream tasks with a unified model. Despite the…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Large language models (LLM) have recently shown the extraordinary ability to perform unseen tasks based on few-shot examples provided as text, also known as in-context learning (ICL). While recent works have attempted to understand the…

The reliable prediction of the temporal behavior of complex systems is key in numerous scientific fields. This strong interest is however hindered by modeling issues: often, the governing equations describing the physics of the system under…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

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…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…