4 papers
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
Giovanni D'urso, Kaushik Roy, Nicholas Lawrance +1
Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies remain brittle to visual `nuisances', with even minor task-preserving v…
SPREAD: Subspace Representation Distillation for Lifelong Imitation Learning
Kaushik Roy, Giovanni D'urso, Nicholas Lawrance +2
A key challenge in lifelong imitation learning (LIL) is enabling agents to acquire new skills from expert demonstrations while retaining prior knowledge. This requires preserving t…
Improving Generalization Ability of Robotic Imitation Learning by Resolving Causal Confusion in Observations
Yifei Chen, Yuzhe Zhang, Giovanni D'urso +2
Recent developments in imitation learning have considerably advanced robotic manipulation. However, current techniques in imitation learning can suffer from poor generalization, li…
Alternative Interfaces for Human-initiated Natural Language Communication and Robot-initiated Haptic Feedback: Towards Better Situational Awareness in Human-Robot Collaboration
Callum Bennie, Bridget Casey, Cecile Paris +9
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request infor…