相关论文: RoCoDA: Counterfactual Data Augmentation for Data-…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Many dynamic processes, including common scenarios in robotic control and reinforcement learning (RL), involve a set of interacting subprocesses. Though the subprocesses are not independent, their interactions are often sparse, and the…

Machine learning models are prone to capturing the spurious correlations between non-causal attributes and classes, with counterfactual data augmentation being a promising direction for breaking these spurious associations. However,…

The number of states in a dynamic process is exponential in the number of objects, making reinforcement learning (RL) difficult in complex, multi-object domains. For agents to scale to the real world, they will need to react to and reason…

Recent developments in imitation learning have considerably advanced robotic manipulation. However, current techniques in imitation learning can suffer from poor generalization, limiting performance even under relatively minor domain…

The generalization capability of deepfake detectors is critical for real-world use. Data augmentation via synthetic fake face generation effectively enhances generalization, yet current SoTA methods rely on fixed strategies-raising a key…

Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datasets, has become a prominent area of interest in robot…

Data augmentation has been demonstrated as an effective strategy for improving model generalization and data efficiency. However, due to the discrete nature of natural language, designing label-preserving transformations for text data tends…

Extensive efforts have been made to improve the generalization ability of Reinforcement Learning (RL) methods via domain randomization and data augmentation. However, as more factors of variation are introduced during training, optimization…

Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift arising due to the small amount of expert data, recent works…

Imitation learning methods are used to infer a policy in a Markov decision process from a dataset of expert demonstrations by minimizing a divergence measure between the empirical state occupancy measures of the expert and the policy. The…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Healthcare data often come from multiple sites in which the correlations between confounding variables can vary widely. If deep learning models exploit these unstable correlations, they might fail catastrophically in unseen sites. Although…

Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of…

In offline reinforcement learning (RL), an RL agent learns to solve a task using only a fixed dataset of previously collected data. While offline RL has been successful in learning real-world robot control policies, it typically requires…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

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.…

Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are…