相关论文: LOTUS: Continual Imitation Learning for Robot Mani…

Building a generalist robot that can perceive, reason, and act across diverse tasks remains an open challenge, especially for dexterous manipulation. A major bottleneck lies in the scarcity of large-scale, action-annotated data for…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

Augmenting large language models (LLMs) with external tools has emerged as a promising approach to extending the capability of LLMs. Although some works employ open-source LLMs for the tool learning task, most of them are trained in a…

In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…

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,…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

The recent breakthroughs in computer vision have benefited from the availability of large representative datasets (e.g. ImageNet and COCO) for training. Yet, robotic vision poses unique challenges for applying visual algorithms developed…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for transferring skills to robots. It allows to implicitly learn…

Continual learning (CL) refers to the ability of an algorithm to continuously and incrementally acquire new knowledge from its environment while retaining previously learned information. A model trained on one data modality often fails when…

Lifelong learning offers a promising paradigm of building a generalist agent that learns and adapts over its lifespan. Unlike traditional lifelong learning problems in image and text domains, which primarily involve the transfer of…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…

The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

Building general-purpose intelligent robots has long been a fundamental goal of robotics. A promising approach is to mirror the evolutionary trajectory of humans: learning through continuous interaction with the environment, with early…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

The size and the computational load of fine-tuning large-scale pre-trained neural network are becoming two major obstacles in adopting machine learning in many applications. Continual learning (CL) can serve as a remedy through enabling…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…