相关论文: SPECI: Skill Prompts based Hierarchical Continual …

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Skill Incremental Learning (SIL) is the process by which an embodied agent expands and refines its skill set over time by leveraging experience gained through interaction with its environment or by the integration of additional data. SIL…

In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Class-Incremental Learning (CIL) aims to learn new classes sequentially while retaining the knowledge of previously learned classes. Recently, pre-trained models (PTMs) combined with parameter-efficient fine-tuning (PEFT) have shown…

Class-incremental learning (CIL) aims to enable models to continuously learn new classes while overcoming catastrophic forgetting. The introduction of pre-trained models has brought new tuning paradigms to CIL. In this paper, we revisit…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

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 studies the challenging continual learning (CL) setting of Class Incremental Learning (CIL). CIL learns a sequence of tasks consisting of disjoint sets of concepts or classes. At any time, a single model is built that can be…

Nowadays, robots become a companion in everyday life. To be well-accepted by humans, robots should efficiently understand meanings of their partners' motions and body language, and respond accordingly. Learning concepts by imitation brings…

Class Incremental Learning (CIL) based on pre-trained models offers a promising direction for open-world continual learning. Existing methods typically rely on correlation-based strategies, where an image's classification feature is used as…

Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In this paper, we propose SkillsCrafter, a…

In-context imitation learning (ICIL) enables robots to learn tasks from prompts consisting of just a handful of demonstrations. By eliminating the need for parameter updates at deployment time, this paradigm supports few-shot adaptation to…

The expanding applications of legged robots require their mastery of versatile motion skills. Correspondingly, researchers must address the challenge of integrating multiple diverse motion skills into controllers. While existing…