相关论文: Decomposing the Generalization Gap in Imitation Le…

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…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

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,…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Dexterous grasping remains a fundamental yet challenging problem in robotics. A general-purpose robot must be capable of grasping diverse objects in arbitrary scenarios. However, existing research typically relies on restrictive…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

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…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…

Machine learning models are often susceptible to adversarial perturbations of their inputs. Even small perturbations can cause state-of-the-art classifiers with high "standard" accuracy to produce an incorrect prediction with high…

Generalization is a central challenge for the deployment of reinforcement learning (RL) systems in the real world. In this paper, we show that the sequential structure of the RL problem necessitates new approaches to generalization beyond…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

While recent work has convincingly showed that sequence-to-sequence models struggle to generalize to new compositions (termed compositional generalization), little is known on what makes compositional generalization hard on a particular…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…