相关论文: Imitation Learning from a Single Temporally Misali…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

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…

We consider the general class of time-homogeneous stochastic dynamical systems, both discrete and continuous, and study the problem of learning a representation of the state that faithfully captures its dynamics. This is instrumental to…

Sequential video understanding, as an emerging video understanding task, has driven lots of researchers' attention because of its goal-oriented nature. This paper studies weakly supervised sequential video understanding where the accurate…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Imitation learning seeks to circumvent the difficulty in designing proper reward functions for training agents by utilizing expert behavior. With environments modeled as Markov Decision Processes (MDP), most of the existing imitation…

Recent advances in vision-language-action (VLA) models for robotics have highlighted the importance of reliable uncertainty quantification in sequential tasks. However, assessing and improving calibration in such settings remains mostly…

As people coordinate in daily interactions, they engage in different patterns of behavior to achieve successful outcomes. This includes both synchrony - the temporal coordination of the same behaviors at the same time - and complementarity…

Classically, imitation learning algorithms have been developed for idealized situations, e.g., the demonstrations are often required to be collected in the exact same environment and usually include the demonstrator's actions. Recently,…

We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Object-centric learning emphasizes task-relevant objects and…

Any given classification problem can be modeled using multi-class or One-vs-All (OVA) architecture. An OVA system consists of as many OVA models as the number of classes, providing the advantage of asynchrony, where each OVA model can be…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

Vision-Language Models (VLMs) such as CLIP learn a shared embedding space for images and text, yet their representations remain geometrically separated, a phenomenon known as the modality gap. This gap limits tasks requiring cross-modal…

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…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

This paper presents an unsupervised approach that leverages raw aerial videos to learn to estimate planar homographic transformation between consecutive video frames. Previous learning-based estimators work on pairs of images to estimate…

We propose a learning approach for mapping context-dependent sequential instructions to actions. We address the problem of discourse and state dependencies with an attention-based model that considers both the history of the interaction and…