相关论文: Few-Shot Neuro-Symbolic Imitation Learning for Lon…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

Generalizing across robot embodiments and tasks is crucial for adaptive robotic systems. Modular policy learning approaches adapt to new embodiments but are limited to specific tasks, while few-shot imitation learning (IL) approaches often…

Imitation learning is widely used for learning to act in complex environments. While pure neural-based methods handle high dimensional data effectively, they suffer from the requirement of large number of samples and are prone to…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Decision-making is challenging in robotics environments with continuous object-centric states, continuous actions, long horizons, and sparse feedback. Hierarchical approaches, such as task and motion planning (TAMP), address these…

Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge…

Despite the advances made in visual object recognition, state-of-the-art deep learning models struggle to effectively recognize novel objects in a few-shot setting where only a limited number of examples are provided. Unlike humans who…

Imitation learning is effective for training agents when expert demonstrations are available, but collecting demonstrations for every complex task in an environment is costly. We study the long-horizon, goal-conditioned setting where a…

Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…

Reinforcement Learning (RL) is a well-established framework for sequential decision-making in complex environments. However, state-of-the-art Deep RL (DRL) algorithms typically require large training datasets and often struggle to…