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

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

Conditional imitation learning (CIL) trains deep neural networks, in an end-to-end manner, to mimic human driving. This approach has demonstrated suitable vehicle control when following roads, avoiding obstacles, or taking specific turns at…

Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusable robot manipulation skills from unstructured human videos…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

In the scenario of class-incremental learning (CIL), deep neural networks have to adapt their model parameters to non-stationary data distributions, e.g., the emergence of new classes over time. However, CIL models are challenged by the…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…

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…

To teach robots complex manipulation tasks, a common approach is to fine-tune a pre-trained vision-language-action model (VLA) on task-specific data. However, since this recipe updates existing representations, it is unsuitable for…

Continual learning (CL) aims to continually accumulate knowledge from a non-stationary data stream without catastrophic forgetting of learned knowledge, requiring a balance between stability and adaptability. Relying on the generalizable…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…

Continual learning (CL) is the sub-field of machine learning concerned with accumulating knowledge in dynamic environments. So far, CL research has mainly focused on incremental classification tasks, where models learn to classify new…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is…

Class-Incremental Learning (CIL) aims to enable AI models to continuously learn from sequentially arriving data of different classes over time while retaining previously acquired knowledge. Recently, Parameter-Efficient Fine-Tuning (PEFT)…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

For long-term deployment in dynamic real-world environments, assistive robots must continue to learn and adapt to their environments. Researchers have developed various computational models for continual learning (CL) that can allow robots…

Few-shot class-incremental learning (FSCIL) aims to design machine learning algorithms that can continually learn new concepts from a few data points, without forgetting knowledge of old classes. The difficulty lies in that limited data…

Continual Learning (CL) enables machine learning models to learn from continuously shifting new training data in absence of data from old tasks. Recently, pretrained vision transformers combined with prompt tuning have shown promise for…