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

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

The problem of decentralized multi-robot target tracking asks for jointly selecting actions, e.g., motion primitives, for the robots to maximize target tracking performance with local communications. One major challenge for practical…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Neural processes have recently emerged as a class of powerful neural latent variable models that combine the strengths of neural networks and stochastic processes. As they can encode contextual data in the network's function space, they…

Multi-object tracking (MOT) and trajectory prediction are two critical components in modern 3D perception systems that require accurate modeling of multi-agent interaction. We hypothesize that it is beneficial to unify both tasks under one…

Handling previously unseen tasks after given only a few training examples continues to be a tough challenge in machine learning. We propose TapNets, neural networks augmented with task-adaptive projection for improved few-shot learning.…

Conventional DNN training paradigms typically rely on one training set and one validation set, obtained by partitioning an annotated dataset used for training, namely gross training set, in a certain way. The training set is used for…

Empirically, neural networks that attempt to learn programs from data have exhibited poor generalizability. Moreover, it has traditionally been difficult to reason about the behavior of these models beyond a certain level of input…

A long-standing goal in deep learning has been to characterize the learning behavior of black-box models in a more interpretable manner. For graph neural networks (GNNs), considerable advances have been made in formalizing what functions…

The process of painting fosters creativity and rational planning. However, existing generative AI mostly focuses on producing visually pleasant artworks, without emphasizing the painting process. We introduce a novel task, Collaborative…

When solving long-horizon tasks, it is intriguing to decompose the high-level task into subtasks. Decomposing experiences into reusable subtasks can improve data efficiency, accelerate policy generalization, and in general provide promising…

Meta-learning has emerged as an effective methodology to model several real-world tasks and problems due to its extraordinary effectiveness in the low-data regime. There are many scenarios ranging from the classification of rare diseases to…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

Despite recent progress, learning new tasks through language instructions remains an extremely challenging problem. On the ALFRED benchmark for task learning, the published state-of-the-art system only achieves a task success rate of less…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

We study the problem of generalizable task learning from human demonstration videos without extra training on the robot or pre-recorded robot motions. Given a set of human demonstration videos showing a task with different objects/tools…

Multi-task learning has been observed by many researchers, which supposes that different tasks can share a low-rank common yet latent subspace. It means learning multiple tasks jointly is better than learning them independently. In this…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

In this paper, we consider the framework of multi-task representation (MTR) learning where the goal is to use source tasks to learn a representation that reduces the sample complexity of solving a target task. We start by reviewing recent…

Language model pre-training, such as BERT, has achieved remarkable results in many NLP tasks. However, it is unclear why the pre-training-then-fine-tuning paradigm can improve performance and generalization capability across different…