5 papers
Federated Subspace Guided Vision-Language-Action Policy Distillation for Non-IID Multi-Robot Manipulation
Biprodip Pal, Kaushik Roy, Yanming Zhu +3
Federated learning offers a natural way for multiple robots to jointly improve manipulation policies without requiring centralized access to training demonstrations. However, non-I…
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…
Flashbacks to Harmonize Stability and Plasticity in Continual Learning
Leila Mahmoodi, Peyman Moghadam, Munawar Hayat +2
We introduce Flashback Learning (FL), a novel method designed to harmonize the stability and plasticity of models in Continual Learning (CL). Unlike prior approaches that primarily…
M2Distill: Multi-Modal Distillation for Lifelong Imitation Learning
Kaushik Roy, Akila Dissanayake, Brendan Tidd +1
Lifelong imitation learning for manipulation tasks poses significant challenges due to distribution shifts that occur in incremental learning steps. Existing methods often focus on…
Shape-Space Deformer: Unified Visuo-Tactile Representations for Robotic Manipulation of Deformable Objects
Sean M. V. Collins, Brendan Tidd, Mahsa Baktashmotlagh +1
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods…