相关论文: Feasibility-aware Imitation Learning from Observat…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

Applying imitation learning (IL) is challenging to nonprehensile manipulation tasks of invisible objects with partial observations, such as excavating buried rocks. The demonstrator must make such complex action decisions as exploring to…

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…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

Learning to perform manipulation tasks from human videos is a promising approach for teaching robots. However, many manipulation tasks require changing control parameters during task execution, such as force, which visual data alone cannot…

This paper studies Learning from Observations (LfO) for imitation learning with access to state-only demonstrations. In contrast to Learning from Demonstration (LfD) that involves both action and state supervision, LfO is more practical in…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC suffers from an inherent generalization issue. To solve…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…