相关论文: PRIME: Scaffolding Manipulation Tasks with Behavio…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…

We present PREMISE (PREdict with Matching ScorEs), a new architecture for the matching-based learning in the multimodal fields for the multimodal review helpfulness (MRHP) task. Distinct to previous fusion-based methods which obtains…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

Particularly in low-data regimes, an outstanding challenge in machine learning is developing principled techniques for augmenting our models with suitable priors. This is to encourage them to learn in ways that are compatible with our…

Optimizing robotic action parameters is a significant challenge for manipulation tasks that demand high levels of precision and generalization. Using a model-based approach, the robot must quickly reason about the outcomes of different…

AI agents designed to collaborate with people benefit from models that enable them to anticipate human behavior. However, realistic models tend to require vast amounts of human data, which is often hard to collect. A good prior or…

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…

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a…

This paper presents PRISM: an instruction-conditioned refinement method for imitation policies in robotic manipulation. This approach bridges Imitation Learning (IL) and Reinforcement Learning (RL) frameworks into a seamless pipeline, such…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Many tasks in robotics can be decomposed into sub-tasks that are performed simultaneously. In many cases, these sub-tasks cannot all be achieved jointly and a prioritization of such sub-tasks is required to resolve this issue. In this…

Developing agents that can quickly adapt their behavior to new tasks remains a challenge. Meta-learning has been applied to this problem, but previous methods require either specifying a reward function which can be tedious or providing…

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…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Temporal action abstractions, along with belief state representations, are a powerful knowledge sharing mechanism for sequential decision making. In this work, we propose a novel view that treats inducing temporal action abstractions as a…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

Imitation learning (IL) enables robots to acquire human-like motion skills from demonstrations, but it still requires extensive high-quality data and retraining to handle complex or long-horizon tasks. To improve data efficiency and…