Huihan Liu

Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning

Continual learning is a long-standing challenge in robot policy learning, where a policy must acquire new skills over time without catastrophically forgetting previously learned ones. While prior work has extensively studied continual learning in relatively small behavior cloning (BC) policy models …

SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learning

CASPER: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models

Assistive teleoperation, where control is shared between a human and a robot, enables efficient and intuitive human-robot collaboration in diverse and unstructured environments. A central challenge in real-world assistive teleoperation is for the robot to infer a wide range of human intentions from…

Model-Based Runtime Monitoring with Interactive Imitation Learning

Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not combat-ready for high-stakes tasks. Recent advances in intera…

Multi-Task Interactive Robot Fleet Learning with Visual World Models

Recent advancements in large-scale multi-task robot learning offer the potential for deploying robot fleets in household and industrial settings, enabling them to perform diverse tasks across various environments. However, AI-enabled robots often face challenges with generalization and robustness wh…

PRIME: Scaffolding Manipulation Tasks With Behavior Primitives for Data-Efficient Imitation Learning

Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the task horizons. We present PRIME (<underline xmlns:mml="http://w

Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment

With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization and require excessive training data for practical tasks. To…

Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks

Realistic manipulation tasks require a robot to interact with an environment with a prolonged sequence of motor actions. While deep reinforcement learning methods have recently emerged as a promising paradigm for automating manipulation behaviors, they usually fall short in long-horizon tasks due to…

Parrot: Data-Driven Behavioral Priors for Reinforcement Learning

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language processing or computer vision, pre-training on large, previo…