Matches in SemOpenAlex for { <https://semopenalex.org/work/W4384919635> ?p ?o ?g. }
Showing items 1 to 89 of
89
with 100 items per page.
- W4384919635 abstract "Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusable robot manipulation skills from unstructured human videos is challenging due to the big embodiment difference and unobserved action parameters. To bridge this embodiment gap, this paper introduces XSkill, an imitation learning framework that 1) discovers a cross-embodiment representation called skill prototypes purely from unlabeled human and robot manipulation videos, 2) transfers the skill representation to robot actions using conditional diffusion policy, and finally, 3) composes the learned skill to accomplish unseen tasks specified by a human prompt video. Our experiments in simulation and real-world environments show that the discovered skill prototypes facilitate both skill transfer and composition for unseen tasks, resulting in a more general and scalable imitation learning framework. The benchmark, code, and qualitative results are on https://xskill.cs.columbia.edu/" @default.
- W4384919635 created "2023-07-21" @default.
- W4384919635 creator A5001329080 @default.
- W4384919635 creator A5004644695 @default.
- W4384919635 creator A5048580123 @default.
- W4384919635 creator A5053748723 @default.
- W4384919635 creator A5088276691 @default.
- W4384919635 date "2023-07-19" @default.
- W4384919635 modified "2023-10-03" @default.
- W4384919635 title "XSkill: Cross Embodiment Skill Discovery" @default.
- W4384919635 doi "https://doi.org/10.48550/arxiv.2307.09955" @default.
- W4384919635 hasPublicationYear "2023" @default.
- W4384919635 type Work @default.
- W4384919635 citedByCount "0" @default.
- W4384919635 crossrefType "posted-content" @default.
- W4384919635 hasAuthorship W4384919635A5001329080 @default.
- W4384919635 hasAuthorship W4384919635A5004644695 @default.
- W4384919635 hasAuthorship W4384919635A5048580123 @default.
- W4384919635 hasAuthorship W4384919635A5053748723 @default.
- W4384919635 hasAuthorship W4384919635A5088276691 @default.
- W4384919635 hasBestOaLocation W43849196351 @default.
- W4384919635 hasConcept C100776233 @default.
- W4384919635 hasConcept C107457646 @default.
- W4384919635 hasConcept C121332964 @default.
- W4384919635 hasConcept C126322002 @default.
- W4384919635 hasConcept C126388530 @default.
- W4384919635 hasConcept C13280743 @default.
- W4384919635 hasConcept C150899416 @default.
- W4384919635 hasConcept C154945302 @default.
- W4384919635 hasConcept C15744967 @default.
- W4384919635 hasConcept C177264268 @default.
- W4384919635 hasConcept C17744445 @default.
- W4384919635 hasConcept C185798385 @default.
- W4384919635 hasConcept C199360897 @default.
- W4384919635 hasConcept C199539241 @default.
- W4384919635 hasConcept C205649164 @default.
- W4384919635 hasConcept C2776359362 @default.
- W4384919635 hasConcept C2776760102 @default.
- W4384919635 hasConcept C2780791683 @default.
- W4384919635 hasConcept C41008148 @default.
- W4384919635 hasConcept C48044578 @default.
- W4384919635 hasConcept C62520636 @default.
- W4384919635 hasConcept C71924100 @default.
- W4384919635 hasConcept C77088390 @default.
- W4384919635 hasConcept C77805123 @default.
- W4384919635 hasConcept C90509273 @default.
- W4384919635 hasConcept C94625758 @default.
- W4384919635 hasConceptScore W4384919635C100776233 @default.
- W4384919635 hasConceptScore W4384919635C107457646 @default.
- W4384919635 hasConceptScore W4384919635C121332964 @default.
- W4384919635 hasConceptScore W4384919635C126322002 @default.
- W4384919635 hasConceptScore W4384919635C126388530 @default.
- W4384919635 hasConceptScore W4384919635C13280743 @default.
- W4384919635 hasConceptScore W4384919635C150899416 @default.
- W4384919635 hasConceptScore W4384919635C154945302 @default.
- W4384919635 hasConceptScore W4384919635C15744967 @default.
- W4384919635 hasConceptScore W4384919635C177264268 @default.
- W4384919635 hasConceptScore W4384919635C17744445 @default.
- W4384919635 hasConceptScore W4384919635C185798385 @default.
- W4384919635 hasConceptScore W4384919635C199360897 @default.
- W4384919635 hasConceptScore W4384919635C199539241 @default.
- W4384919635 hasConceptScore W4384919635C205649164 @default.
- W4384919635 hasConceptScore W4384919635C2776359362 @default.
- W4384919635 hasConceptScore W4384919635C2776760102 @default.
- W4384919635 hasConceptScore W4384919635C2780791683 @default.
- W4384919635 hasConceptScore W4384919635C41008148 @default.
- W4384919635 hasConceptScore W4384919635C48044578 @default.
- W4384919635 hasConceptScore W4384919635C62520636 @default.
- W4384919635 hasConceptScore W4384919635C71924100 @default.
- W4384919635 hasConceptScore W4384919635C77088390 @default.
- W4384919635 hasConceptScore W4384919635C77805123 @default.
- W4384919635 hasConceptScore W4384919635C90509273 @default.
- W4384919635 hasConceptScore W4384919635C94625758 @default.
- W4384919635 hasLocation W43849196351 @default.
- W4384919635 hasOpenAccess W4384919635 @default.
- W4384919635 hasPrimaryLocation W43849196351 @default.
- W4384919635 hasRelatedWork W112744582 @default.
- W4384919635 hasRelatedWork W1485630101 @default.
- W4384919635 hasRelatedWork W1525643724 @default.
- W4384919635 hasRelatedWork W2149328105 @default.
- W4384919635 hasRelatedWork W2302028273 @default.
- W4384919635 hasRelatedWork W2364921833 @default.
- W4384919635 hasRelatedWork W2498017833 @default.
- W4384919635 hasRelatedWork W2622932135 @default.
- W4384919635 hasRelatedWork W4288040045 @default.
- W4384919635 hasRelatedWork W4362599043 @default.
- W4384919635 isParatext "false" @default.
- W4384919635 isRetracted "false" @default.
- W4384919635 workType "article" @default.