相关论文: Sequentially Teaching Sequential Tasks $(ST)^2$: T…

Skill effect models for long-horizon manipulation tasks are prone to failures in conditions not covered by training data distributions. Therefore, enabling robots to reason about and learn from failures is necessary. We investigate the…

Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

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…

We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…

The study of multi-task learning has drawn great attention from the community. Despite the remarkable progress, the challenge of optimally learning different tasks simultaneously remains to be explored. Previous works attempt to modify the…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Hierarchical learning (HL) is key to solving complex sequential decision problems with long horizons and sparse rewards. It allows learning agents to break-up large problems into smaller, more manageable subtasks. A common approach to HL,…

Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…

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…

Transforming complex actions into discrete skill abstractions has demonstrated strong potential for robotic manipulation. Existing approaches mainly leverage latent variable models, e.g., VQ-VAE, to learn skill abstractions through learned…

Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations have shown encouraging results, they require extensive data collection…

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…

With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires large datasets. Online-RL does not suit itself readily into…

Learning complex tasks from scratch is challenging and often impossible for humans as well as for artificial agents. A curriculum can be used instead, which decomposes a complex task (target task) into a sequence of source tasks (the…

Efficient machine learning (ML) has become increasingly important as models grow larger and data volumes expand. In this work, we address the trade-off between generalization in multi-task learning (MTL) and precision in single-task…

Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…

There is an increasing need of continual learning in dynamic systems, such as the self-driving vehicle, the surveillance drone, and the robotic system. Such a system requires learning from the data stream, training the model to preserve…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

This paper presents a novel framework for automatically learning complete Stack-of-Tasks (SoT) controllers for redundant robotic systems, including task priorities, activation logic, and control parameters. Unlike classical SoT…