相关论文: Think Small, Act Big: Primitive Prompt Learning fo…

Learning from human involvement aims to incorporate the human subject to monitor and correct agent behavior errors. Although most interactive imitation learning methods focus on correcting the agent's action at the current state, they do…

Building agentic systems that can autonomously self-improve from experience is a longstanding goal of AI. Large language models (LLMs) today primarily self-improve via two mechanisms: self-reflection for context updates, and reinforcement…

We explore beyond existing work on learning from demonstration by asking the question: Can robots learn to teach?, that is, can a robot autonomously learn an instructional policy from expert demonstration and use it to instruct or…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is bottlenecked by the capabilities of the demonstrations.…

This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit conditions, such as "pushing down the peg until contact".…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires…

The pre-trained foundation models (PFMs) have become essential for facilitating large-scale multimodal learning. Researchers have effectively employed the ``pre-train, prompt, and predict'' paradigm through prompt learning to induce…

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…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

The mainstream paradigm behind continual learning has been to adapt the model parameters to non-stationary data distributions, where catastrophic forgetting is the central challenge. Typical methods rely on a rehearsal buffer or known task…

Intelligent agents rely heavily on prior experience when learning a new task, yet most modern reinforcement learning (RL) approaches learn every task from scratch. One approach for leveraging prior knowledge is to transfer skills learned on…

While Pre-trained Language Models (PLMs) internalize a great amount of world knowledge, they have been shown incapable of recalling these knowledge to solve tasks requiring complex & multi-step reasoning. Similar to how humans develop a…

Prompt-based continual learning methods fine-tune only a small set of additional learnable parameters while keeping the pre-trained model's parameters frozen. It enables efficient adaptation to new tasks while mitigating the risk of…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Contemporary continual learning approaches typically select prompts from a pool, which function as supplementary inputs to a pre-trained model. However, this strategy is hindered by the inherent noise of its selection approach when handling…

Developing robotic agents that can perform well in diverse environments while showing a variety of behaviors is a key challenge in AI and robotics. Traditional reinforcement learning (RL) methods often create agents that specialize in…

One of the challenges of open-ended learning in robots is the need to autonomously discover goals and learn skills to achieve them. However, when in lifelong learning settings, it is always desirable to generate sub-goals with their…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…