相关论文: Interactive Visual Task Learning for Robots

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

How can we teach a robot to predict what will happen next for an activity it has never seen before? We address this problem of zero-shot anticipation by presenting a hierarchical model that generalizes instructional knowledge from…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…

In this work, we present a novel meta-learning algorithm, i.e. TTNet, that regresses model parameters for novel tasks for which no ground truth is available (zero-shot tasks). In order to adapt to novel zero-shot tasks, our meta-learner…

People interact with the real-world largely dependent on visual signal, which are ubiquitous and illustrate detailed demonstrations. In this paper, we explore utilizing visual signals as a new interface for models to interact with the…

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)…

Zero-shot learning (ZSL) aims to recognize objects of novel classes without any training samples of specific classes, which is achieved by exploiting the semantic information and auxiliary datasets. Recently most ZSL approaches focus on…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…