Projects

R+X: Retrieval and Execution from Everyday Human Videos

Georgios Papagiannis, Norman Di Palo, Pietro Vitiello and Edward Johns

Published at ICRA 2025

Mini abstract. R+X enables robots to learn skills from long, unlabelled first-person videos of humans performing everyday tasks. Given a language command from a human, R+X first retrieves short video clips containing relevant behaviour, and then conditions an in-context imitation learning technique (KAT) on this behaviour to execute the skill.

One_Shot Imitation Learning: A Pose Estimation Perspective

Pietro Vitiello, Kamil Dreczkowski, and Edward Johns

Published at CoRL 2023

Mini abstract. We study how unseen object pose estimation can be used to transfer a trajectory from a single demonstration to a novel scene. Through a series of investigations, we analyse the key factors influencing this process and showcase the expected performance of state-of-the-art pose estimators on real-world robotics tasks.

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