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Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…

Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as camera calibration or the need for controlled environments…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Block diffusion LLMs are emerging as a promising next paradigm for language generation, but their use of KV caching makes memory access a dominant bottleneck in long-context settings. While dynamic sparse attention has been actively…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Knowledge graph embedding (KGE) focuses on representing the entities and relations of a knowledge graph (KG) into the continuous vector spaces, which can be employed to predict the missing triples to achieve knowledge graph completion…

Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…

If generalist robots are to operate in truly unstructured environments, they need to be able to recognize and reason about novel objects and scenarios. Such objects and scenarios might not be present in the robot's own training data. We…

Attention module does not always help deep models learn causal features that are robust in any confounding context, e.g., a foreground object feature is invariant to different backgrounds. This is because the confounders trick the attention…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Recent advances have enabled heterogeneous multi-robot teams to learn complex and effective coordination skills. However, existing neural architectures that support heterogeneous teaming tend to force a trade-off between expressivity and…

Although cognitive engagement (CE) is crucial for motor learning, it remains underutilized in rehabilitation robots, partly because its assessment currently relies on subjective and gross measurements taken intermittently. Here, we propose…

One of the primary goals of Human-Robot Interaction (HRI) research is to develop robots that can interpret human behavior and adapt their responses accordingly. Adaptive learning models, such as continual and reinforcement learning, play a…

Many robot manipulation tasks require active or interactive exploration behavior in order to be performed successfully. Such tasks are ubiquitous in embodied domains, where agents must actively search for the information necessary for each…

Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to…

General intelligence requires quick adaption across tasks. While existing reinforcement learning (RL) methods have made progress in generalization, they typically assume only distribution changes between source and target domains. In this…

We present a user study analyzing head-gaze-based robot control and foveated visual augmentation in a simulated search-and-rescue task. Results show that foveated augmentation significantly improves task performance, reduces cognitive load…

Data augmentation is a key element for training accurate models by reducing overfitting and improving generalization. For image classification, the most popular data augmentation techniques range from simple photometric and geometrical…

Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…

Driving a system from one state to another through targeted interventions is a fundamental challenge in science, yet most predictive models offer limited mechanistic insight and no principled framework for decision-making. Here we present…