相关论文: CIVIL: Causal and Intuitive Visual Imitation Learn…

Inducing causal relationships from observations is a classic problem in machine learning. Most work in causality starts from the premise that the causal variables themselves are observed. However, for AI agents such as robots trying to make…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Today's autonomous agents, largely driven by foundation models (FMs), can understand natural language instructions and solve long-horizon tasks with human-like reasoning. However, current human-robot interaction largely follows a one-way…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

When human acquire physical skills (e.g., tennis) from experts, we tend to first learn from merely observing the expert. But this is often insufficient. We then engage in practice, where we try to emulate the expert and ensure that our…

Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast,…

Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

Humans learn to imitate by observing others. However, robot imitation learning generally requires expert demonstrations in the first-person view (FPV). Collecting such FPV videos for every robot could be very expensive. Third-person…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

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…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

The growing integration of robots in shared environments-such as warehouses, shopping centres, and hospitals-demands a deep understanding of the underlying dynamics and human behaviours, including how, when, and where individuals engage in…

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…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…