相关论文: Waypoint-Based Imitation Learning for Robotic Mani…

Ensembling deep learning models is a shortcut to promote its implementation in new scenarios, which can avoid tuning neural networks, losses and training algorithms from scratch. However, it is difficult to collect sufficient accurate and…

Addressing biases in AI models is crucial for ensuring fair and accurate predictions. However, obtaining large, unbiased datasets for training can be challenging. This paper proposes a comprehensive approach using multiple methods to remove…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

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.…

Recent progress in end-to-end Imitation Learning approaches has shown promising results and generalization capabilities on mobile manipulation tasks. Such models are seeing increasing deployment in real-world settings, where scaling up…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Masked Autoencoder (MAE) is a self-supervised approach for representation learning, widely applicable to a variety of downstream tasks in computer vision. In spite of its success, it is still not fully uncovered what and how MAE exactly…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…

We present a data-driven optimization framework that aims to address online adaptation of the flight path shape for an airborne wind energy system (AWE) that follows a repetitive path to generate power. Specifically, Bayesian optimization,…

Learning by examples, which learns to solve a new problem by looking into how similar problems are solved, is an effective learning method in human learning. When a student learns a new topic, he/she finds out exemplar topics that are…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a…

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)…

Learning robotic tasks in the real world is still highly challenging and effective practical solutions remain to be found. Traditional methods used in this area are imitation learning and reinforcement learning, but they both have…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…