相关论文: NIL: No-data Imitation Learning by Leveraging Pre-…

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing…

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…

Non-exemplar class-incremental learning (NECIL) is to resist catastrophic forgetting without saving old class samples. Prior methodologies generally employ simple rules to generate features for replaying, suffering from large distribution…

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Imitation by observation is an approach for learning from expert demonstrations that lack action information, such as videos. Recent approaches to this problem can be placed into two broad categories: training dynamics models that aim to…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

Robotic assistive feeding holds significant promise for improving the quality of life for individuals with eating disabilities. However, acquiring diverse food items under varying conditions and generalizing to unseen food presents unique…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…

Video recognition models have progressed significantly over the past few years, evolving from shallow classifiers trained on hand-crafted features to deep spatiotemporal networks. However, labeled video data required to train such models…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

We aim to enable humanoid robots to efficiently solve new manipulation tasks from a few video examples. In-context learning (ICL) is a promising framework for achieving this goal due to its test-time data efficiency and rapid adaptability.…