相关论文: One-Shot Robust Imitation Learning for Long-Horizo…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

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 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…

The capability of performing long-horizon, language-guided robotic manipulation tasks critically relies on leveraging historical information and generating coherent action sequences. However, such capabilities are often overlooked by…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Humans and animals are capable of learning a new behavior by observing others perform the skill just once. We consider the problem of allowing a robot to do the same -- learning from a raw video pixels of a human, even when there is…

We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a…

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…

We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

While leveraging abundant human videos and simulated robot data poses a scalable solution to the scarcity of real-world robot data, the generalization capability of existing vision-language-action models (VLAs) remains limited by mismatches…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

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…