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

The inductive bias of a neural network is largely determined by the architecture and the training algorithm. To achieve good generalization, how to effectively train a neural network is of great importance. We propose a novel orthogonal…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

Availability of labelled data is the major obstacle to the deployment of deep learning algorithms for computer vision tasks in new domains. The fact that many frameworks adopted to solve different tasks share the same architecture suggests…

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge…

Transformers have achieved extraordinary success in modern machine learning due to their excellent ability to handle sequential data, especially in next-token prediction (NTP) tasks. However, the theoretical understanding of their…

Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

We introduce a new hierarchical deep learning framework for recursive higher-order meta-learning that enables neural networks (NNs) to construct, solve, and generalise across hierarchies of tasks. Central to this approach is a generative…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…

Next-token prediction (NTP) over large text corpora has become the go-to paradigm to train large language models. Yet, it remains unclear how NTP influences the mapping of linguistic patterns to geometric properties of the resulting model…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

It is still challenging to build an AI system that can perform tasks that involve vision and language at human level. So far, researchers have singled out individual tasks separately, for each of which they have designed networks and…

Reinforcement learning systems require good representations to work well. For decades practical success in reinforcement learning was limited to small domains. Deep reinforcement learning systems, on the other hand, are scalable, not…

In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need…

Foundation models have reshaped the landscape of Remote Sensing (RS) by enhancing various image interpretation tasks. Pretraining is an active research topic, encompassing supervised and self-supervised learning methods to initialize model…