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In learning an embodied agent executing daily tasks via language directives, the literature largely assumes that the agent learns all training data at the beginning. We argue that such a learning scenario is less realistic since a robotic…

Non-linear activation functions play a pivotal role in on-device inference and training, as they not only consume substantial hardware resources but also impose a significant impact on system performance and energy efficiency. In this work,…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots…

Physics-informed diffusion models typically enforce PDE constraints only on final outputs, leaving intermediate representations unconstrained and prone to shortcut learning under shifted boundary conditions. We introduce **REPA-P**, a…

Data augmentation (DA) techniques aim to increase data variability, and thus train deep networks with better generalisation. The pioneering AutoAugment automated the search for optimal DA policies with reinforcement learning. However,…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Imitation Learning techniques enable programming the behavior of agents through demonstrations rather than manual engineering. However, they are limited by the quality of available demonstration data. Interactive Imitation Learning…

Large pre-trained models are usually fine-tuned on downstream task data, and tested on unseen data. When the train and test data come from different domains, the model is likely to struggle, as it is not adapted to the test domain. We…

Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…

The partial domain adaptation (PDA) challenge is a prevalent issue in industrial fault diagnosis. Drawing inspiration from traditional classification settings where such partial challenge is not a concern, we propose a novel PDA framework…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Diffusion- and flow-based policies deliver state-of-the-art performance on long-horizon robotic manipulation and imitation learning tasks. However, these controllers employ a fixed inference budget at every control step, regardless of task…

Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

We consider the problem of learning to perform a task from demonstrations given by teachers or experts, when some of the experts' demonstrations might be adversarial and demonstrate an incorrect way to perform the task. We propose a novel…

Automata learning is a successful tool for many application domains such as robotics and automatic verification. Typically, automata learning techniques operate in a supervised learning setting (active or passive) where they learn a finite…

Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…

A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the control loop by a real-time estimation of the derivative of the…