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A common failure mode for policies trained with imitation is compounding execution errors at test time.
Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Efficient training of artificial neural networks for autonomous navigation
Dean A Pomerleau · 1991
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Learning from demonstration
Stefan Schaal · 1996
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Probabilistic robotics
Sebastian Thrun · 2002
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Multiple view geometry in computer vision
Richard Hartley and Andrew Zisserman · 2003
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A survey of robot learning from demonstration
Brenna D Argall, Sonia Chernova, Manuela Veloso, and Brett Browning · 2009
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2011
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Imagenet classification with deep convolutional neural networks
Alex Krizhevsky, Ilya Sutskever, and Geoffrey E. Hinton · 2012
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Generative adversarial nets
Ian Goodfellow, Jean Pouget-Abadie, Mehdi Mirza, Bing Xu, David Warde-Farley, Sherjil Ozair, Aaron Courville, and Yoshua Bengio · 2014
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A machine learning approach to visual perception of forest trails for mobile robots
Alessandro Giusti, Jérôme Guzzi, Dan C. Cireşan, Fang-Lin He, Juan P. Rodríguez, Flavio Fontana, Matthias Faessler, Christian Forster, Jürgen Schmidhuber, Gianni Di Caro, Davide Scaramuzza, and Luca M. Gambardella · 2015
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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Deep unsupervised learning using nonequilibrium thermodynamics
Jascha Sohl-Dickstein, Eric Weiss, Niru Maheswaranathan, and Surya Ganguli · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Shiv: Reducing supervisor burden in dagger using support vectors for efficient learning from demonstrations in high dimensional state spaces
Michael Laskey, Sam Staszak, Wesley Yu-Shu Hsieh, Jeffrey Mahler, Florian T Pokorny, Anca D Dragan, and Ken Goldberg · 2016
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Structure-from-motion revisited
Johannes Lutz Schönberger and Jan-Michael Frahm · 2016
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Pixelwise view selection for unstructured multi-view stereo
Johannes Lutz Schönberger, Enliang Zheng, Marc Pollefeys, and Jan-Michael Frahm · 2016
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Imitation learning: A survey of learning methods
Ahmed Hussein, Mohamed Medhat Gaber, Eyad Elyan, and Chrisina Jayne · 2017
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Image-to-image translation with conditional adversarial networks
Phillip Isola, Jun-Yan Zhu, Tinghui Zhou, and Alexei A Efros · 2017
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Dart: Noise injection for robust imitation learning
Michael Laskey, Jonathan Lee, Roy Fox, Anca Dragan, and Ken Goldberg · 2017
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, and Pieter Abbeel · 2018
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Stereo magnification: learning view synthesis using multiplane images
Tinghui Zhou, Richard Tucker, John Flynn, Graham Fyffe, and Noah Snavely · 2018
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Reinforcement and imitation learning for diverse visuomotor skills
Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, et al · 2018
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Self-supervised correspondence in visuomotor policy learning
Peter Florence, Lucas Manuelli, and Russ Tedrake · 2019
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Generative modeling by estimating gradients of the data distribution
Yang Song and Stefano Ermon · 2019
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Learning latent plans from play
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, and Pierre Sermanet · 2020
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ORB-SLAM3: An accurate open-source library for visual, visual-inertial and multi-map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez, José M. M. Montiel, and Juan D. Tardós · 2021
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Grasping with chopsticks: Combating covariate shift in model-free imitation learning for fine manipulation
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee, Byron Boots, and Siddhartha Srinivasa · 2021
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Sdedit: Guided image synthesis and editing with stochastic differential equations
Chenlin Meng, Yutong He, Yang Song, Jiaming Song, Jiajun Wu, Jun-Yan Zhu, and Stefano Ermon · 2021
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
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Playful interactions for representation learning
Sarah Young, Jyothish Pari, Pieter Abbeel, and Lerrel Pinto · 2022
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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Hexplane: A fast representation for dynamic scenes
Ang Cao and Justin Johnson · 2023
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Look ma, no hands! agent-environment factorization of egocentric videos
Matthew Chang, Aditya Prakash, and Saurabh Gupta · 2023
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The surprising effectiveness of representation learning for visual imitation
Jyothish Pari, Nur Muhammad, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2021
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A-nerf: Articulated neural radiance fields for learning human shape, appearance, and pose
Shih-Yang Su, Frank Yu, Michael Zollhöfer, and Helge Rhodin · 2021
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Visual imitation made easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, and Lerrel Pinto · 2021
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pixelnerf: Neural radiance fields from one or few images
Alex Yu, Vickie Ye, Matthew Tancik, and Angjoo Kanazawa · 2021
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Vision-only robot navigation in a neural radiance world
Michal Adamkiewicz, Timothy Chen, Adam Caccavale, Rachel Gardner, Preston Culbertson, Jeannette Bohg, and Mac Schwager · 2022
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Is conditional generative modeling all you need for decision-making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua Tenenbaum, Tommi Jaakkola, and Pulkit Agrawal · 2022
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ediffi: Text-to-image diffusion models with an ensemble of expert denoisers
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Nerfdiff: Single-image view synthesis with nerf-guided distillation from 3d-aware diffusion
Jiatao Gu, Alex Trevithick, Kai-En Lin, Joshua M Susskind, Christian Theobalt, Lingjie Liu, and Ravi Ramamoorthi · 2023
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Generating behaviorally diverse policies with latent diffusion models
Shashank Hegde, Sumeet Batra, KR Zentner, and Gaurav S Sukhatme · 2023
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Dall-e-bot: Introducing web-scale diffusion models to robotics
Ivan Kapelyukh, Vitalis Vosylius, and Edward Johns · 2023
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Vivid-1-to-3: Novel view synthesis with video diffusion models
Jeong-gi Kwak, Erqun Dong, Yuhe Jin, Hanseok Ko, Shweta Mahajan, and Kwang Moo Yi · 2023
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Zero-1-to-3: Zero-shot one image to 3d object
Ruoshi Liu, Rundi Wu, Basile Van Hoorick, Pavel Tokmakov, Sergey Zakharov, and Carl Vondrick · 2023
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Cong Lu, Philip J Ball, and Jack Parker-Holder · 2023
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Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, and Lerrel Pinto · 2023
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Nerfstudio: A modular framework for neural radiance field development
Matthew Tancik, Ethan Weber, Evonne Ng, Ruilong Li, Brent Yi, Terrance Wang, Alexander Kristoffersen, Jake Austin, Kamyar Salahi, Abhik Ahuja, et al · 2023
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Consistent view synthesis with pose-guided diffusion models
Hung-Yu Tseng, Qinbo Li, Changil Kim, Suhib Alsisan, Jia-Bin Huang, and Johannes Kopf · 2023
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d 3 d^{3} fields: Dynamic 3d descriptor fields for zero-shot generalizable robotic manipulation
Yixuan Wang, Zhuoran Li, Mingtong Zhang, Katherine Driggs-Campbell, Jiajun Wu, Li Fei-Fei, and Yunzhu Li · 2023
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Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 2023
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Freenerf: Improving few-shot neural rendering with free frequency regularization
Jiawei Yang, Marco Pavone, and Yue Wang · 2023
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Affordance diffusion: Synthesizing hand-object interactions
Yufei Ye, Xueting Li, Abhinav Gupta, Shalini De Mello, Stan Birchfield, Jiaming Song, Shubham Tulsiani, and Sifei Liu · 2023
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Adding conditional control to text-to-image diffusion models
Lvmin Zhang, Anyi Rao, and Maneesh Agrawala · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Nerf in the palm of your hand: Corrective augmentation for robotics via novel-view synthesis
Allan Zhou, Moo Jin Kim, Lirui Wang, Pete Florence, and Chelsea Finn · 2023
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Diffusion policies for out-of-distribution generalization in offline reinforcement learning
Suzan Ece Ada, Erhan Oztop, and Emre Ugur · 2024
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Simple hierarchical planning with diffusion
Chang Chen, Fei Deng, Kenji Kawaguchi, Caglar Gulcehre, and Sungjin Ahn · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Playfusion: Skill acquisition via diffusion from language-annotated play
Lili Chen, Shikhar Bahl, and Deepak Pathak · 2029
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