相关论文: Bi-HIL: Bilateral Control-Based Multimodal Hierarc…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the…

Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high success rates and generalization requires high cost, e.g.,…

We tackle the challenge of building embodied AI agents that can reliably solve long-horizon planning problems. Imitation learning from demonstrations has shown itself to be effective in training robots to solve a diversity of complex tasks…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…

Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Hierarchical reinforcement learning (HRL) addresses complex long-horizon tasks by skillfully decomposing them into subgoals. Therefore, the effectiveness of HRL is greatly influenced by subgoal reachability. Typical HRL methods only…

Recent data-driven methods leveraging deep reinforcement learning have been an effective paradigm for developing controllers that enable physically simulated characters to produce natural human-like behaviors. However, these data-driven…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

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…