相关论文: Neural Task Programming: Learning to Generalize Ac…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Understanding what graph neural networks can learn, especially their ability to learn to execute algorithms, remains a central theoretical challenge. In this work, we prove exact learnability results for graph algorithms under…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…

Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…

Deep learning (DL) advances state-of-the-art reinforcement learning (RL), by incorporating deep neural networks in learning representations from the input to RL. However, the conventional deep neural network architecture is limited in…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

State-of-the-art studies have demonstrated the superiority of joint modelling over pipeline implementation for medical named entity recognition and normalization due to the mutual benefits between the two processes. To exploit these…

An important aspect of intelligence is the ability to adapt to a novel task without any direct experience (zero-shot), based on its relationship to previous tasks. Humans can exhibit this cognitive flexibility. By contrast, models that…

Task embeddings are low-dimensional representations that are trained to capture task properties. In this paper, we propose MetaEval, a collection of $101$ NLP tasks. We fit a single transformer to all MetaEval tasks jointly while…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tools…

Meta-learning aims to train models that can generalize to new tasks with limited labeled data by extracting shared features across diverse task datasets. Additionally, it accounts for prediction uncertainty during both training and…

Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…

Multi-task learning (MTL) has recently contributed to learning better representations in service of various NLP tasks. MTL aims at improving the performance of a primary task, by jointly training on a secondary task. This paper introduces…

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a…

In this study, we address the challenge of learning generalizable policies for compositional tasks defined by logical specifications. These tasks consist of multiple temporally extended sub-tasks. Due to the sub-task inter-dependencies and…

The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…