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

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Existing Class Incremental Learning (CIL) methods are based on a supervised classification framework sensitive to data labels. When updating them based on the new class data, they suffer from catastrophic forgetting: the model cannot…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…

Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…

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…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across…

Class-incremental learning (CIL) is a particularly challenging variant of continual learning, where the goal is to learn to discriminate between all classes presented in an incremental fashion. Existing approaches often suffer from…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Imitation learning allows social robots to learn new skills from human teachers without substantial manual programming, but it is difficult for robotic imitation learning systems to generalize demonstrated skills as well as human learners…

Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…

Continual learning aims to provide intelligent agents that are capable of learning continually a sequence of tasks, building on previously learned knowledge. A key challenge in this learning paradigm is catastrophically forgetting…

The deployment of pre-trained models (PTMs) has greatly advanced the field of continual learning (CL), enabling positive knowledge transfer and resilience to catastrophic forgetting. To sustain these advantages for sequentially arriving…

To effectively manage the complexities of real-world dynamic environments, continual learning must incrementally acquire, update, and accumulate knowledge from a stream of tasks of different nature without suffering from catastrophic…

Imitation learning has been a trend recently, yet training a generalist agent across multiple tasks still requires large-scale expert demonstrations, which are costly and labor-intensive to collect. To address the challenge of limited…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…