13 accepted papers
Efficient learning from demonstration for long horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated improved sample efficiency, enabling transferable robotic ski
Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that characterize real environments are vast and underrepresented in existing robot benchmarks. Measuring this level of generalizat…
Concept-based models like Concept Bottleneck Models (CBMs) have garnered significant interest for improving model interpretability by first predicting human-understandable concepts before mapping them to the output classes. Early approaches required costly concept annotations. To alleviate this, rec…
Contrastive vision-language models (VLMs), like CLIP, have gained popularity for their versatile applicability to various downstream tasks. Despite their successes in some tasks, like zero-shot object recognition, they perform surprisingly poor on other tasks, like attribute recognition. Previous wo…
The remarkable generalization performance of contrastive vision-language models like CLIP is often attributed to the diversity of their training distributions. However, key questions remain unanswered: Can CLIP generalize to an entirely unseen domain when trained on a diverse mixture of domains (do…
Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we present a framework that formulates the visual…
Sample efficiency is a crucial problem in deep reinforcement learning. Recent algorithms, such as REDQ and DroQ, found a way to improve the sample efficiency by increasing the update-to-data (UTD) ratio to 20 gradient update steps on the critic per environment sample. However, this comes at the expe…
Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording. We propose a two-stage process. In the first stage we extract t…
Learning from expert demonstrations is a popular approach to train robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training objective, and 6-DoF end-effector pose representation. Diffusion-bas…
Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to one environment state. We propose a modular approach to exten…
We propose Adaptive Curriculum Generation from Demonstrations (ACGD) for reinforcement learning in the presence of sparse rewards. Rather than designing shaped reward functions, ACGD adaptively sets the appropriate task difficulty for the learner by controlling where to sample from the demonstration…
One-shot imitation is the vision of robot programming from a single demonstration, rather than by tedious construction of computer code. We present a practical method for realizing one-shot imitation for manipulation tasks, exploiting modern learning-based optical flow to perform real-time visual se…
Estimating 3D hand pose from single RGB images is a highly ambiguous problem that relies on an unbiased training dataset. In this paper, we analyze cross-dataset generalization when training on existing datasets. We find that approaches perform well on the datasets they are trained on, but do not ge…