相关论文: ToolNet: Using Commonsense Generalization for Pred…

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a tool…

Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its use…

Our goal is to enable a robot to learn how to sequence its actions to perform tasks specified as natural language instructions, given successful demonstrations from a human partner. The ability to plan high-level tasks can be factored as…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

Robot learning holds the promise of learning policies that generalize broadly. However, such generalization requires sufficiently diverse datasets of the task of interest, which can be prohibitively expensive to collect. In other fields,…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes. The Robot Common Sense Embedding (RoboCSE)…

Autonomous systems that efficiently utilize tools can assist humans in completing many common tasks such as cooking and cleaning. However, current systems fall short of matching human-level of intelligence in terms of adapting to novel…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

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…

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of…

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…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…