Yuke Zhu

Learning and Retrieval from Prior Data for Skill-based Imitation Learning

2022 · arXiv (Cornell University)

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances in multi-task imitation learning, …

INTERPRET: Interactive Predicate Learning from Language Feedback for Generalizable Task Planning

2024

Learning abstract state representations and knowledge is crucial for long-horizon robot planning.We present Inter-PreT, an Large Language Model (LLM)-powered framework for robots to learn symbolic predicates from language feedback of human non-experts during embodied interaction.The …