6 accepted papers
We aim to enable humanoid robots to efficiently solve new manipulation tasks from a few video examples. In-context learning (ICL) is a promising framework for achieving this goal due to its test-time data efficiency and rapid adaptability. However, current ICL methods rely on labor-intensive teleope…
Service robots must retrieve objects in dynamic, open-world settings where requests may reference attributes (“the red mug”), spatial context (“the mug on the table”), or past states (“the mug that was here yesterday”). Existing approaches capture only parts of this problem: scene graphs capture spa…
In this work, we study the problem of data retrieval for few-shot imitation learning: select data from a large dataset to train a performant policy for a specific task, given only a few target demonstrations. Prior methods retrieve data using a single-feature distance heuristic, assuming that the be…
Research on Inverse Reinforcement Learning (IRL) from third-person videos has shown encouraging results on removing the need for manual reward design for robotic tasks. However, most prior works are still limited by training from a relatively restricted domain of videos. In this paper, we argue that…
We present a novel approach for unsupervised activity segmentation which uses video frame clustering as a pretext task and simultaneously performs representation learning and online clustering. This is in contrast with prior works where representation learning and clustering are often performed sequ…
We present a self-supervised approach for learning video representations using temporal video alignment as a pretext task, while exploiting both frame-level and video-level information. We leverage a novel combination of temporal alignment loss and temporal regularization terms, which can be used as…