相关论文: Generalizable Hierarchical Skill Learning via Obje…

In this paper, we investigate what constitutes a good representation or model in self-supervised learning (SSL). We argue that a good representation should exhibit universality, characterized by three essential properties: discriminability,…

Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each new task requires substantial human effort, such as careful…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Zero-shot learning is a new paradigm to classify objects from classes that are not available at training time. Zero-shot learning (ZSL) methods have attracted considerable attention in recent years because of their ability to classify…

Learning control from pixels is difficult for reinforcement learning (RL) agents because representation learning and policy learning are intertwined. Previous approaches remedy this issue with auxiliary representation learning tasks, but…

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to…

Manipulating articulated tools, such as tweezers or scissors, has rarely been explored in previous research. Unlike rigid tools, articulated tools change their shape dynamically, creating unique challenges for dexterous robotic hands. In…

Zero-shot learning (ZSL) methods have been studied in the unrealistic setting where test data are assumed to come from unseen classes only. In this paper, we advocate studying the problem of generalized zero-shot learning (GZSL) where the…

Hand gesture recognition plays a significant role in human-computer interaction for understanding various human gestures and their intent. However, most prior works can only recognize gestures of limited labeled classes and fail to adapt to…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…

Robots are expected to serve as intelligent assistants, helping humans with everyday household organization. A central challenge in this setting is the task of object placement, which requires reasoning about both semantic preferences…

One of the recent developments in deep learning is generalized zero-shot learning (GZSL), which aims to recognize objects from both seen and unseen classes, when only the labeled examples from seen classes are provided. Over the past couple…

Recently, a simple yet effective algorithm -- goal-conditioned supervised-learning (GCSL) -- was proposed to tackle goal-conditioned reinforcement-learning. GCSL is based on the principle of hindsight learning: by observing states visited…

Generalised zero-shot learning (GZSL) is a classification problem where the learning stage relies on a set of seen visual classes and the inference stage aims to identify both the seen visual classes and a new set of unseen visual classes.…

Offline goal-conditioned reinforcement learning (GCRL) is a promising approach for pretraining generalist policies on large datasets of reward-free trajectories, akin to the self-supervised objectives used to train foundation models for…