相关论文: Jointly Learning Predicates and Actions Enables Ze…

In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…

Conventionally, model-based reinforcement learning (MBRL) aims to learn a global model for the dynamics of the environment. A good model can potentially enable planning algorithms to generate a large variety of behaviors and solve diverse…

The prediction of learning curves for Natural Language Processing (NLP) models enables informed decision-making to meet specific performance objectives, while reducing computational overhead and lowering the costs associated with dataset…

Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments and environments. However, they cannot guarantee safe…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias.…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…

World action models (WAMs) have emerged as a promising direction for robot policy learning, as they can leverage powerful video backbones to model the future states. However, existing approaches often rely on separate action modules, or use…

Learning from videos offers a promising path toward generalist robots by providing rich visual and temporal priors beyond what real robot datasets contain. While existing video generative models produce impressive visual predictions, they…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…

In robotics, it is often not possible to learn useful policies using pure model-free reinforcement learning without significant reward shaping or curriculum learning. As a consequence, many researchers rely on expert demonstrations to guide…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

How can we teach a robot to predict what will happen next for an activity it has never seen before? We address this problem of zero-shot anticipation by presenting a hierarchical model that generalizes instructional knowledge from…

The monolithic approach to policy representation in Markov Decision Processes (MDPs) looks for a single policy that can be represented as a function from states to actions. For the monolithic approach to succeed (and this is not always…

Sample-efficient generalisation of reinforcement learning approaches have always been a challenge, especially, for complex scenes with many components. In this work, we introduce Plug and Play Markov Decision Processes, an object-based…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…