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

Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially parallel-jaw grippers due to dataset…

Class-Incremental Learning (CIL) requires models to learn new classes without forgetting old ones. A common method is to freeze a pre-trained model and train a new, lightweight adapter for each task. While this prevents forgetting, it…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

Electromyography (EMG)-based gesture recognition is a promising approach for designing intuitive human-computer interfaces. However, while these systems typically perform well in controlled laboratory settings, their usability in real-world…

Continual learning (CL) enables deep networks to acquire new knowledge while avoiding catastrophic forgetting. The powerful generalization ability of pre-trained models (PTMs), such as the Contrastive Language-Image Pre-training (CLIP)…

Assistant AI agents should be capable of rapidly acquiring novel skills and adapting to new user preferences. Traditional frameworks like imitation learning and reinforcement learning do not facilitate this capability because they support…

Some imitation learning methods combine behavioural cloning with self-supervision to infer actions from state pairs. However, most rely on a large number of expert trajectories to increase generalisation and human intervention to capture…

Self-improvement requires robotic systems to initially learn from human-provided data and then gradually enhance their capabilities through interaction with the environment. This is similar to how humans improve their skills through…

Class-incremental learning (CIL) has been widely studied under the setting of starting from a small number of classes (base classes). Instead, we explore an understudied real-world setting of CIL that starts with a strong model pre-trained…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

While imitation learning (IL) offers a promising framework for teaching robots various behaviors, learning complex tasks remains challenging. Existing IL policies struggle to generalize effectively across visual and spatial variations even…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory generation remains fragile under environmental variation. We propose SAIL, a framework that reframes robot imitation as an iterative…

Imitation learning enables robots to acquire complex manipulation skills from human demonstrations, but current methods rely solely on low-level sensorimotor data while ignoring the rich semantic knowledge humans naturally possess about…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…