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cs.RO2024★ 1 cited
Instant Policy: In-Context Imitation Learning via Graph Diffusion
Vitalis Vosylius, Edward Johns
Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Ins…
cs.RO2024
MILES: Making Imitation Learning Easy with Self-Supervision
Georgios Papagiannis, Edward Johns
Data collection in imitation learning often requires significant, laborious human supervision, such as numerous demonstrations, and/or frequent environment resets for methods that…
cs.RO2024
Adapting Skills to Novel Grasps: A Self-Supervised Approach
Georgios Papagiannis, Kamil Dreczkowski, Vitalis Vosylius +1
In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common appr…