Watch and Match: Supercharging Imitation with Regularized Optimal Transport

30 June 2022

Papers citing "Watch and Match: Supercharging Imitation with Regularized Optimal Transport"

50 / 52 papers shown

Title
Dexterous Hand Manipulation via Efficient Imitation-Bootstrapped Online Reinforcement Learning Dongchi Huang Tianle Zhang Yihang Li Ling Zhao Jiayi Li Zhirui Fang Chunhe Xia Lusong Li Xiaodong He OffRL 48 0 0 06 Mar 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 66 2 0 27 Feb 2025
Imitation Learning from a Single Temporally Misaligned Video William Huey Huaxiaoyue Wang Anne Wu Yoav Artzi Sanjiban Choudhury AI4TS 60 0 0 08 Feb 2025
Policy Decorator: Model-Agnostic Online Refinement for Large Policy Model Xiu Yuan Tongzhou Mu Stone Tao Yunhao Fang Mengke Zhang H. Su OffRL 74 3 0 18 Dec 2024
So You Think You Can Scale Up Autonomous Robot Data Collection? Suvir Mirchandani Suneel Belkhale Joey Hejna Evelyn Choi Md Sazzad Islam Dorsa Sadigh OffRL 46 5 0 04 Nov 2024
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards Irmak Güzey Yinlong Dai Georgy Savva Raunaq M. Bhirangi Lerrel Pinto 46 7 0 30 Oct 2024
Robot Policy Learning with Temporal Optimal Transport Reward Yuwei Fu Haichao Zhang Di Wu Wei-ping Xu Benoit Boulet OffRL 45 1 0 29 Oct 2024
Zero-Shot Offline Imitation Learning via Optimal Transport Thomas Rupf Marco Bagatella Nico Gürtler Jonas Frey Georg Martius OffRL 186 0 0 11 Oct 2024
KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance Jingxian Lu Wenke Xia Dong Wang Zhigang Wang Bin Zhao Di Hu Xuelong Li 46 3 0 06 Aug 2024
BAKU: An Efficient Transformer for Multi-Task Policy Learning Siddhant Haldar Zhuoran Peng Lerrel Pinto OffRL 46 28 0 11 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 39 35 0 30 May 2024
Constrained Ensemble Exploration for Unsupervised Skill Discovery Chenjia Bai Rushuai Yang Qiaosheng Zhang Kang Xu Yi Chen Ting Xiao Xuelong Li OffRL 40 3 0 25 May 2024
Privileged Sensing Scaffolds Reinforcement Learning E. Hu James Springer Oleh Rybkin Dinesh Jayaraman 25 7 0 23 May 2024
Learning Manipulation Skills through Robot Chain-of-Thought with Sparse Failure Guidance Kaifeng Zhang Zhao-Heng Yin Weirui Ye Yang Gao 70 3 0 22 May 2024
Rank2Reward: Learning Shaped Reward Functions from Passive Video Daniel Yang Davin Tjia Jacob Berg Dima Damen Pulkit Agrawal Abhishek Gupta OffRL 40 5 0 23 Apr 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Güzey Siddhant Haldar Soumith Chintala Lerrel Pinto 39 50 0 12 Mar 2024
ENOT: Expectile Regularization for Fast and Accurate Training of Neural Optimal Transport N. Buzun Maksim Bobrin Dmitry Dylov OT OOD 26 2 0 06 Mar 2024
Align Your Intents: Offline Imitation Learning via Optimal Transport Maksim Bobrin N. Buzun Dmitrii Krylov Dmitry Dylov OffRL 51 3 0 20 Feb 2024
Expert Proximity as Surrogate Rewards for Single Demonstration Imitation Learning Chia-Cheng Chiang Li-Cheng Lan Wei-Fang Sun Chien Feng Cho-Jui Hsieh Chun-Yi Lee 41 0 0 01 Feb 2024
Adaptive Mobile Manipulation for Articulated Objects In the Open World Haoyu Xiong Russell Mendonca Kenneth Shaw Deepak Pathak 34 39 0 25 Jan 2024
Visual Imitation Learning with Calibrated Contrastive Representation Yunke Wang Linwei Tao Bo Du Yutian Lin Chang Xu 28 0 0 21 Jan 2024
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots Pengxiang Ding Han Zhao Wenxuan Song Zhitao Wang Zhenyu Wei Shangke Lyu Ningxi Yang Donglin Wang 34 19 0 22 Dec 2023
Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans Homanga Bharadhwaj Abhi Gupta Vikash Kumar Shubham Tulsiani LM&Ro 30 38 0 01 Dec 2023
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 33 77 0 27 Nov 2023
Signal Temporal Logic-Guided Apprenticeship Learning Aniruddh Gopinath Puranic Jyotirmoy V. Deshmukh Stefanos Nikolaidis 46 2 0 09 Nov 2023
Imitation Bootstrapped Reinforcement Learning Hengyuan Hu Suvir Mirchandani Dorsa Sadigh 41 24 0 03 Nov 2023
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation Kelin Yu Yunhai Han Matthew Zhu Vaibhav Saxena Danfei Xu Ye Zhao 16 12 0 25 Oct 2023
Robust Visual Imitation Learning with Inverse Dynamics Representations Siyuan Li Xun Wang Rongchang Zuo Kewu Sun Lingfei Cui Jishiyu Ding Peng Liu Zhe Ma 26 3 0 22 Oct 2023
Leveraging Optimal Transport for Enhanced Offline Reinforcement Learning in Surgical Robotic Environments Maryam Zare P. Kebria Abbas Khosravi OffRL 25 3 0 13 Oct 2023
PolyTask: Learning Unified Policies through Behavior Distillation Siddhant Haldar Lerrel Pinto 28 7 0 12 Oct 2023
What Matters to You? Towards Visual Representation Alignment for Robot Learning Ran Tian Chenfeng Xu Masayoshi Tomizuka Jitendra Malik Andrea V. Bajcsy 24 9 0 11 Oct 2023
Imitation Learning from Observation with Automatic Discount Scheduling Yuyang Liu Weijun Dong Yingdong Hu Chuan Wen Zhao-Heng Yin Chongjie Zhang Yang Gao 30 6 0 11 Oct 2023
Compositional Servoing by Recombining Demonstrations Max Argus Abhijeet Nayak Martin Buchner Silvio Galesso Abhinav Valada Thomas Brox 33 0 0 06 Oct 2023
Imitation Learning from Observation through Optimal Transport Wei-Di Chang Scott Fujimoto D. Meger Gregory Dudek 24 4 0 02 Oct 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 29 31 0 21 Sep 2023
A Survey of Imitation Learning: Algorithms, Recent Developments, and Challenges Maryam Zare P. Kebria Abbas Khosravi Saeid Nahavandi 24 81 0 05 Sep 2023
Can Pre-Trained Text-to-Image Models Generate Visual Goals for Reinforcement Learning? Jialu Gao Kaizhe Hu Guowei Xu Huazhe Xu LM&Ro 26 15 0 15 Jul 2023
SeMAIL: Eliminating Distractors in Visual Imitation via Separated Models Shenghua Wan Yucen Wang Minghao Shao Ruying Chen De-Chuan Zhan 61 7 0 19 Jun 2023
Mimicking Better by Matching the Approximate Action Distribution Joao A. Candido Ramos Lionel Blondé Naoya Takeishi Alexandros Kalousis 37 2 0 16 Jun 2023
PEARL: Zero-shot Cross-task Preference Alignment and Robust Reward Learning for Robotic Manipulation Runze Liu Yali Du Fengshuo Bai Jiafei Lyu Xiu Li 29 6 0 06 Jun 2023
Scalable Optimal Transport Methods in Machine Learning: A Contemporary Survey Abdelwahed Khamis Russell Tsuchida Mohamed Tarek V. Rolland Lars Petersson OT 45 13 0 08 May 2023
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations Siddhant Haldar Jyothish Pari A. Rai Lerrel Pinto 30 66 0 02 Mar 2023
Visual Imitation Learning with Patch Rewards Minghuan Liu Tairan He Weinan Zhang Shuicheng Yan Zhongwen Xu SSL 22 13 0 02 Feb 2023
Outcome-directed Reinforcement Learning by Uncertainty & Temporal Distance-Aware Curriculum Goal Generation Daesol Cho Seungjae Lee H. J. Kim 31 14 0 27 Jan 2023
Hierarchical Policy Blending As Optimal Transport An T. Le Kay Hansel Jan Peters Georgia Chalvatzaki OT 40 7 0 04 Dec 2022
Planning for Sample Efficient Imitation Learning Zhao-Heng Yin Weirui Ye Qifeng Chen Yang Gao OffRL 31 21 0 18 Oct 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 43 68 0 12 Oct 2022
Auto-Encoding Adversarial Imitation Learning Kaifeng Zhang Rui Zhao Ziming Zhang Yang Gao 19 1 0 22 Jun 2022
VRL3: A Data-Driven Framework for Visual Deep Reinforcement Learning Che Wang Xufang Luo Keith Ross Dongsheng Li OffRL 30 49 0 17 Feb 2022
Cross-Domain Imitation Learning via Optimal Transport Arnaud Fickinger Samuel N. Cohen Stuart J. Russell Brandon Amos OT 48 48 0 07 Oct 2021