Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable learning and active control of individual behaviors, which limits their applicability. In this work, we propose a cooperative adversarial method for obtaining single versatile policies with controllable skill sets from unlabeled datasets containing diverse state transition patterns by maximizing their discriminability. Moreover, we show that by utilizing unsupervised skill discovery in the generative adversarial imitation learning framework, novel and useful skills emerge with successful task fulfillment. Finally, the obtained versatile policies are tested on an agile quadruped robot called Solo 8 and present faithful replications of diverse skills encoded in the demonstrations.
Semi-Supervised Imitation Learning with Mixed Qualities of Demonstrations for Autonomous Driving
Seoul National University（首尔国立大学）；Dongguk University（东国大学）；Department of Electrical and Computer Engineering（电子与计算机工程系）；ASRI（ASRI（人工智能研究中心））；School of Computer Science and Engineering（计算机科学与工程学院）
Robust Offline Imitation Learning Through State-level Trajectory Stitching
National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China（自主智能无人系统国家重点实验室，北京理工大学，北京100081，中国）；Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China（控制科学与工程学院，哈尔滨工业大学，哈尔滨150001，中国）
Imitation Learning from Observation with Automatic Discount Scheduling
Institute for Interdisciplinary Information Sciences, Tsinghua University（清华大学交叉信息研究院）；Shanghai Qi Zhi Institute（上海期智研究院）；UC Berkeley（加州大学伯克利分校）；Washington University in St. Louis（圣路易斯华盛顿大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）
Improving Behavioural Cloning with Positive Unlabeled Learning
University College Dublin（都柏林大学）；University College London（伦敦大学学院）；Dublin City University（都柏林城市大学）；Insight SFI Research Centre for Data Analytics（Insight SFI 数据分析研究中心）；MPI for Intelligent Systems（马克斯·普朗克智能系统研究所）
LAR-MoE: Latent-Aligned Routing for Mixture of Experts in Robotic Imitation Learning
Department of Translational Surgical Oncology, NCT/UCC Dresden（转化外科肿瘤学系）；Cluster of Excellence-CeTI, TUD, Germany（卓越中心-CeTI）；Department of Visceral, Thoracic and Vascular Surgery, Faculty of Medicine and University Hospital Carl Gustav Carus, TUD, Germany（visceral、胸腔和血管外科系）
Walk Like Dogs: Learning Steerable Imitation Controllers for Legged Robots from Unlabeled Motion Data
Computational Robotics Lab in the Department of Computer Science, ETH Zurich, Switzerland（计算机科学系计算机器人实验室，瑞士苏黎世联邦理工学院）；Robot Intelligence Lab in the Department of Artificial Intelligence, Korea University, South Korea（人工智能系机器人智能实验室，韩国大学）
EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flow
New Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences（模式识别新实验室（NLPR），自动化研究所，中国科学院）；School of Artificial Intelligence, University of Chinese Academy of Sciences（人工智能学院，中国科学院大学）
Diverse Skill Discovery for Quadruped Robots via Unsupervised Learning
College of Intelligent Robotics and Advanced Manufacturing（智能机器人与先进制造学院）；Fudan University（复旦大学）；College of Foreign Language（外国语言学院）；The University of Shanghai for Science and Technology（上海科技大学）
KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）；Shanghai Jiao Tong University（上海交通大学）；East China University of Science and Technology（东华大学）
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
University of Oulu（奥卢大学）；Aalto University（阿尔托大学）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；University of Southern California（南加利福尼亚大学）
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
LimX Dynamics；The University of Hong Kong（香港大学）；School of Automation and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学自动化与智能制造学院）；Hong Kong University of Science and Technology（香港科技大学）；ZJU-UIUC Institute, Zhejiang University（浙江大学伊利诺伊大学厄巴纳香槟校区联合学院）
