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

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Understanding Deep Neural Network (DNN) performance in changing conditions is essential for deploying DNNs in safety critical applications with unconstrained environments, e.g., perception for self-driving vehicles or medical image…

In this paper, we present a grammar-based natural language framework for robot programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary of action words, designed to store together words that share meaning,…

We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

Decision-making is challenging in robotics environments with continuous object-centric states, continuous actions, long horizons, and sparse feedback. Hierarchical approaches, such as task and motion planning (TAMP), address these…

This paper presents a novel method that allows a machine learning algorithm following the transformation-based learning paradigm \cite{brill95:tagging} to be applied to multiple classification tasks by training jointly and simultaneously on…

Humans can learn a new language task efficiently with only few examples, by leveraging their knowledge obtained when learning prior tasks. In this paper, we explore whether and how such cross-task generalization ability can be acquired, and…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

Multi-task learning (MTL) has become increasingly popular in natural language processing (NLP) because it improves the performance of related tasks by exploiting their commonalities and differences. Nevertheless, it is still not understood…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

It is commonly accepted that machine translation is a more complex task than part of speech tagging. But how much more complex? In this paper we make an attempt to develop a general framework and methodology for computing the informational…

How well can NLP models generalize to a variety of unseen tasks when provided with task instructions? To address this question, we first introduce Super-NaturalInstructions, a benchmark of 1,616 diverse NLP tasks and their expert-written…

Building on the foundations of language modeling in natural language processing, Next Token Prediction (NTP) has evolved into a versatile training objective for machine learning tasks across various modalities, achieving considerable…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

Meta-learning enables algorithms to quickly learn a newly encountered task with just a few labeled examples by transferring previously learned knowledge. However, the bottleneck of current meta-learning algorithms is the requirement of a…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…