相关论文: Fail2Progress: Learning from Real-World Robot Fail…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

Being able to predict the failure of materials based on structural information is a fundamental issue with enormous practical and industrial relevance for the monitoring of devices and components. Thanks to recent advances in deep learning,…

The fault diagnostic model trained for a laboratory case machine fails to perform well on the industrial machines running under variable operating conditions. For every new operating condition of such machines, a new diagnostic model has to…

The reinforcement learning algorithms that focus on how to compute the gradient and choose next actions, are effectively improved the performance of the agents. However, these algorithms are environment-agnostic. This means that the…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…

Many Imitation and Reinforcement Learning approaches rely on the availability of expert-generated demonstrations for learning policies or value functions from data. Obtaining a reliable distribution of trajectories from motion planners is…

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

We review the application of Statistical Mechanics methods to the study of online learning of a drifting concept in the limit of large systems. The model where a feed-forward network learns from examples generated by a time dependent…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

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…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Humans excel at learning long-horizon tasks from demonstrations augmented with textual commentary, as evidenced by the burgeoning popularity of tutorial videos online. Intuitively, this capability can be separated into 2 distinct subtasks -…

Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…

An object handover between a robot and a human is a coordinated action which is prone to failure for reasons such as miscommunication, incorrect actions and unexpected object properties. Existing works on handover failure detection and…

Improving data utilization, especially for imperfect data from task failures, is crucial for robotic manipulation due to the challenging, time-consuming, and expensive data collection process in the real world. Current imitation learning…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…