相关论文: FlowRetrieval: Flow-Guided Data Retrieval for Few-…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Enabling robots to learn novel visuomotor skills in a data-efficient manner remains an unsolved problem with myriad challenges. A popular paradigm for tackling this problem is through leveraging large unlabeled datasets that have many…

Reinforcement learning (RL) in few-shot scenarios with limited sensor data is challenging due to insufficient training samples, particularly in applications like Dynamic Voltage and Frequency Scaling (DVFS) where sensor readings are…

One-shot imitation is the vision of robot programming from a single demonstration, rather than by tedious construction of computer code. We present a practical method for realizing one-shot imitation for manipulation tasks, exploiting…

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…

The use of guidance to steer sampling toward desired outcomes has been widely explored within diffusion models, especially in applications such as image and trajectory generation. However, incorporating guidance during training remains…

Imitation Learning (IL) enables robots to learn complex skills from demonstrations without explicit task modeling, but it typically requires large amounts of demonstrations, creating significant collection costs. Prior work has investigated…

In this work, we study the problem of data retrieval for few-shot imitation learning: selecting data from a large dataset to train a performant policy for a specific task, given only a few target demonstrations. Prior methods retrieve data…

Recent advances in diffusion$/$flow-matching policies have enabled imitation learning of complex, multi-modal action trajectories. However, they are computationally expensive because they sample a trajectory of trajectories: a…

Few-shot learning refers to understanding new concepts from only a few examples. We propose an information retrieval-inspired approach for this problem that is motivated by the increased importance of maximally leveraging all the available…

Few-shot learning is a technique to learn a model with a very small amount of labeled training data by transferring knowledge from relevant tasks. In this paper, we propose a few-shot learning method for wearable sensor based human activity…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…

The Contrastive Language-Image Pretraining (CLIP) model has been widely used in various downstream vision tasks. The few-shot learning paradigm has been widely adopted to augment its capacity for these tasks. However, current paradigms may…

Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and textual instructions. Often, training demonstrations are…

Few-shot learning arises in important practical scenarios, such as when a natural language understanding system needs to learn new semantic labels for an emerging, resource-scarce domain. In this paper, we explore retrieval-based methods…

Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…

Few-shot learning aims to recognize instances from novel classes with few labeled samples, which has great value in research and application. Although there has been a lot of work in this area recently, most of the existing work is based on…

Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge due to complex contact dynamics that demand high-precision…

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…

With such a massive growth in the number of images stored, efficient search in a database has become a crucial endeavor managed by image retrieval systems. Image Retrieval with Relevance Feedback (IRRF) involves iterative human interaction…