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

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

Prompt learning has surfaced as an effective approach to enhance the performance of Vision-Language Models (VLMs) like CLIP when applied to downstream tasks. However, current learnable prompt tokens are primarily used for the single phase…

This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental…

With the emergence of Transformers and Vision-Language Models (VLMs) such as CLIP, fine-tuning large pre-trained models has recently become a prevalent strategy in Continual Learning. This has led to the development of numerous prompting…

A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph. While this approach has shown great performance and…

Visual prompting, an efficient method for transfer learning, has shown its potential in vision tasks. However, previous works focus exclusively on VP from standard source models, it is still unknown how it performs under the scenario of a…

The data privacy constraint in online continual learning (OCL), where the data can be seen only once, complicates the catastrophic forgetting problem in streaming data. A common approach applied by the current SOTAs in OCL is with the use…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Despite growing interest in Learning-by-Teaching (LbT), few studies have explored how this paradigm can be implemented with autonomous, peer-like social robots in real classrooms. Most prior work has relied on scripted or Wizard-of-Oz…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Recent advances in machine learning have made it possible to train artificially intelligent agents that perform with super-human accuracy on a great diversity of complex tasks. However, the process of training these capabilities often…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…

Current literature demonstrates that Large Language Models (LLMs) are great few-shot learners, and prompting significantly increases their performance on a range of downstream tasks in a few-shot learning setting. An attempt to automate…

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…

Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…

Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…

Continual learning refers to the ability to acquire and transfer knowledge without catastrophically forgetting what was previously learned. In this work, we consider \emph{few-shot} continual learning in classification tasks, and we propose…

Existing work on continual learning (CL) is primarily devoted to developing algorithms for models trained from scratch. Despite their encouraging performance on contrived benchmarks, these algorithms show dramatic performance drops in…