相关论文: JUICER: Data-Efficient Imitation Learning for Robo…

Simulation-based learning has enabled policies for precise, contact-rich tasks (e.g., robotic assembly) to reach high success rates (~80%) under high levels of observation noise and control error. Although such performance may be sufficient…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Imitation Learning (IL) can generate computationally efficient policies from demonstrations provided by Model Predictive Control (MPC). However, IL methods often require extensive data-collection and training efforts, limiting changes to…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

Data collection in imitation learning often requires significant, laborious human supervision, such as numerous demonstrations, and/or frequent environment resets for methods that incorporate reinforcement learning. In this work, we propose…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

Constructing simulation scenes that are both visually and physically realistic is a problem of practical interest in domains ranging from robotics to computer vision. This problem has become even more relevant as researchers wielding large…

Imitation learning, in which learning is performed by demonstration, has been studied and advanced for sequential decision-making tasks in which a reward function is not predefined. However, imitation learning methods still require numerous…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Interactive imitation learning makes an agent's control policy robust by stepwise supervisions from an expert. The recent algorithms mostly employ expert-agent switching systems to reduce the expert's burden by limitedly selecting the…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…

Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording. We…