相关论文: VITAL: Interactive Few-Shot Imitation Learning via…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

In mobile manipulation (MM), robots can both navigate within and interact with their environment and are thus able to complete many more tasks than robots only capable of navigation or manipulation. In this work, we explore how to apply…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…

Acquiring physically plausible motor skills across diverse and unconventional morphologies-including humanoid robots, quadrupeds, and animals-is essential for advancing character simulation and robotics. Traditional methods, such as…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

The goal of imitation learning (IL) is to learn a good policy from high-quality demonstrations. However, the quality of demonstrations in reality can be diverse, since it is easier and cheaper to collect demonstrations from a mix of experts…

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its…

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…

Mobile robots are essential in applications such as autonomous delivery and hospitality services. Applying learning-based methods to address mobile robot tasks has gained popularity due to its robustness and generalizability. Traditional…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…