相关论文: Semi-Supervised One-Shot Imitation Learning

A general-purpose robot should be able to master a wide range of tasks and quickly learn a novel one by leveraging past experiences. One-shot imitation learning (OSIL) approaches this goal by training an agent with (pairs of) expert…

We introduce One-Shot Dual-Arm Imitation Learning (ODIL), which enables dual-arm robots to learn precise and coordinated everyday tasks from just a single demonstration of the task. ODIL uses a new three-stage visual servoing (3-VS) method…

In this paper, we consider the problem of autonomous driving using imitation learning in a semi-supervised manner. In particular, both labeled and unlabeled demonstrations are leveraged during training by estimating the quality of each…

Open-set semi-supervised learning (OSSL) embodies a practical scenario within semi-supervised learning, wherein the unlabeled training set encompasses classes absent from the labeled set. Many existing OSSL methods assume that these…

One-shot imitation learning (OSIL) offers a promising way to teach robots new skills without large-scale data collection. However, current OSIL methods are primarily limited to short-horizon tasks, thus limiting their applicability to…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

One-shot learning has become an important research topic in the last decade with many real-world applications. The goal of one-shot learning is to classify unlabeled instances when there is only one labeled example per class. Conventional…

Imitation learning has been a trend recently, yet training a generalist agent across multiple tasks still requires large-scale expert demonstrations, which are costly and labor-intensive to collect. To address the challenge of limited…

Open-world semi-supervised learning (OWSSL) extends conventional semi-supervised learning to open-world scenarios by taking account of novel categories in unlabeled datasets. Despite the recent advancements in OWSSL, the success often…

Open-set semi-supervised learning (OSSL) leverages unlabeled data containing both in-distribution (ID) and unknown out-of-distribution (OOD) samples, aiming simultaneously to improve closed-set accuracy and detect novel OOD instances.…

Semi-supervised learning (SSL) has been proposed to leverage unlabeled data for training powerful models when only limited labeled data is available. While existing SSL methods assume that samples in the labeled and unlabeled data share the…

Semi-Supervised Learning (SSL) is a framework that utilizes both labeled and unlabeled data to enhance model performance. Conventional SSL methods operate under the assumption that labeled and unlabeled data share the same label space.…

Few-shot learning (FSL) aims to learn models that generalize to novel classes with limited training samples. Recent works advance FSL towards a scenario where unlabeled examples are also available and propose semi-supervised FSL methods.…

Traditional supervised learning aims to train a classifier in the closed-set world, where training and test samples share the same label space. In this paper, we target a more challenging and realistic setting: open-set learning (OSL),…

Few-shot learning aims to handle previously unseen tasks using only a small amount of new training data. In preparing (or meta-training) a few-shot learner, however, massive labeled data are necessary. In the real world, unfortunately,…

The goal of this paper is to bypass the need for labelled examples in few-shot video understanding at run time. While proven effective, in many practical video settings even labelling a few examples appears unrealistic. This is especially…

Few-shot learning and self-supervised learning address different facets of the same problem: how to train a model with little or no labeled data. Few-shot learning aims for optimization methods and models that can learn efficiently to…

Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

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…