相关论文: Few-Shot In-Context Imitation Learning via Implici…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

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…

When trained at sufficient scale, auto-regressive language models exhibit the notable ability to learn a new language task after being prompted with just a few examples. Here, we present a simple, yet effective, approach for transferring…

We consider the task of few shot link prediction on graphs. The goal is to learn from a distribution over graphs so that a model is able to quickly infer missing edges in a new graph after a small amount of training. We show that current…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

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,…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

In-context learning (ICL) allows some autoregressive models to solve tasks via next-token prediction and without needing further training. This has led to claims about these model's ability to solve (learn) unseen tasks with only a few…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

This paper tackles the problem of few-shot learning, which aims to learn new visual concepts from a few examples. A common problem setting in few-shot classification assumes random sampling strategy in acquiring data labels, which is…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

Graph few-shot learning is of great importance among various graph learning tasks. Under the few-shot scenario, models are often required to conduct classification given limited labeled samples. Existing graph few-shot learning methods…

Large language models manifest the ability of few-shot adaptation to a sequence of provided examples. This behavior, known as in-context learning, allows for performing nontrivial machine learning tasks during inference only. In this work,…

We show that off-the-shelf text-based Transformers, with no additional training, can perform few-shot in-context visual imitation learning, mapping visual observations to action sequences that emulate the demonstrator's behaviour. We…

Constrained objects, such as doors and drawers are often complex and share a similar structure in the human environment. A robot needs to interact accurately with constrained objects to safely and successfully complete a task. Learning from…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…