TOPIC adds task-specific prompts and task-similarity-based weight interpolation to transformer policies, improving few-shot action-incremental learning in simulation and on a real robot.
Hierarchical diffusion policy for kinematics-aware multi-task robotic manipulation,
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Few-Shot Vision-Language Action-Incremental Policy Learning
TOPIC adds task-specific prompts and task-similarity-based weight interpolation to transformer policies, improving few-shot action-incremental learning in simulation and on a real robot.