Language conditioned imitation learning over unstructured data
C Lynch, P Sermanet - arXiv preprint arXiv:2005.07648, 2020 - arxiv.org
Natural language is perhaps the most flexible and intuitive way for humans to communicate
tasks to a robot. Prior work in imitation learning typically requires each task be specified with …
tasks to a robot. Prior work in imitation learning typically requires each task be specified with …
What matters in language conditioned robotic imitation learning over unstructured data
A long-standing goal in robotics is to build robots that can perform a wide range of daily
tasks from perceptions obtained with their onboard sensors and specified only via natural …
tasks from perceptions obtained with their onboard sensors and specified only via natural …
Language-conditioned imitation learning for robot manipulation tasks
Imitation learning is a popular approach for teaching motor skills to robots. However, most
approaches focus on extracting policy parameters from execution traces alone (ie, motion …
approaches focus on extracting policy parameters from execution traces alone (ie, motion …
[PDF][PDF] Grounding language in play
C Lynch, P Sermanet - arXiv preprint arXiv:2005.07648, 2020 - academia.edu
Natural language is perhaps the most versatile and intuitive way for humans to communicate
tasks to a robot. Prior work on Learning from Play (LfP)(Lynch et al., 2019) provides a simple …
tasks to a robot. Prior work on Learning from Play (LfP)(Lynch et al., 2019) provides a simple …
Robotic skill acquisition via instruction augmentation with vision-language models
In recent years, much progress has been made in learning robotic manipulation policies that
follow natural language instructions. Such methods typically learn from corpora of robot …
follow natural language instructions. Such methods typically learn from corpora of robot …
Rt-h: Action hierarchies using language
Language provides a way to break down complex concepts into digestible pieces. Recent
works in robot imitation learning use language-conditioned policies that predict actions …
works in robot imitation learning use language-conditioned policies that predict actions …
Learning and retrieval from prior data for skill-based imitation learning
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but
traditionally has exhibited limited scalability due to high data supervision requirements and …
traditionally has exhibited limited scalability due to high data supervision requirements and …
Learning language-conditioned robot behavior from offline data and crowd-sourced annotation
We study the problem of learning a range of vision-based manipulation tasks from a large
offline dataset of robot interaction. In order to accomplish this, humans need easy and …
offline dataset of robot interaction. In order to accomplish this, humans need easy and …
Hydra: Hybrid robot actions for imitation learning
Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert
demonstrations. However, policies learned through IL suffer from state distribution shift at …
demonstrations. However, policies learned through IL suffer from state distribution shift at …
[PDF][PDF] Vima: General robot manipulation with multimodal prompts
Prompt-based learning has emerged as a successful paradigm in natural language
processing, where a single general-purpose language model can be instructed to perform …
processing, where a single general-purpose language model can be instructed to perform …