相关论文: Beyond the Majority: Long-tail Imitation Learning …

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

The distribution of data in the world (eg, internet, etc.) significantly differs from the well-curated datasets and is often over-populated with samples from common categories. The algorithms designed for well-curated datasets perform…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

The imbalance (or long-tail) is the nature of many real-world data distributions, which often induces the undesirable bias of deep classification models toward frequent classes, resulting in poor performance for tail classes. In this paper,…

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution…

Real-world data often follows a long-tailed distribution, which makes the performance of existing classification algorithms degrade heavily. A key issue is that samples in tail categories fail to depict their intra-class diversity. Humans…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

The full potential of large pretrained models remains largely untapped in control domains like robotics. This is mainly because of the scarcity of data and the computational challenges associated with training or fine-tuning these large…

Large Vision-Language Action (VLA) models have shown significant potential for embodied AI. However, their predominant training via supervised fine-tuning (SFT) limits generalization due to susceptibility to compounding errors under…

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Several goal-oriented problems in the real-world can be naturally expressed as Stochastic Shortest Path Problems (SSPs). However, the computational complexity of solving SSPs makes finding solutions to even moderately sized problems…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

The policy represented by the deep neural network can overfit the spurious features in observations, which hamper a reinforcement learning agent from learning effective policy. This issue becomes severe in high-dimensional state, where the…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…