相关论文: Robot Action Selection Learning via Layered Dimens…

Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-art approaches to social navigation fall into two categories:…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Executing open-ended natural language queries is a core problem in robotics. While recent advances in imitation learning and vision-language-actions models (VLAs) have enabled promising end-to-end policies, these models struggle when faced…

Robots assisting humans in complex domains have to represent knowledge and reason at both the sensorimotor level and the social level. The architecture described in this paper couples the non-monotonic logical reasoning capabilities of a…

We present DAPIP, a Programming-By-Example system that learns to program with APIs to perform data transformation tasks. We design a domain-specific language (DSL) that allows for arbitrary concatenations of API outputs and constant…

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…

Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction dynamics. However, NN based estimators and controllers may…

State-of-the-art sensorimotor learning algorithms offer policies that can often produce unstable behaviors, damaging the robot and/or the environment. Traditional robot learning, on the contrary, relies on dynamical system-based policies…

For widespread deployment in domains characterized by partial observability, non-deterministic actions and unforeseen changes, robots need to adapt sensing, processing and interaction with humans to the tasks at hand. While robots typically…

Inductive program synthesis, or inferring programs from examples of desired behavior, offers a general paradigm for building interpretable, robust, and generalizable machine learning systems. Effective program synthesis depends on two key…

Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain of Learning from Demonstration (LfD). However, these…

Deep Reinforcement Learning has shown its ability in solving complicated problems directly from high-dimensional observations. However, in end-to-end settings, Reinforcement Learning algorithms are not sample-efficient and requires long…

The current dominant paradigm in sensorimotor control, whether imitation or reinforcement learning, is to train policies directly in raw action spaces such as torque, joint angle, or end-effector position. This forces the agent to make…

In our daily lives and industrial settings, we often encounter dynamic problems that require reasoning over time and metric constraints. These include tasks such as scheduling, routing, and production sequencing. Dynamic logics have…

Sim-to-real discrepancies hinder learning-based policies from achieving high-precision tasks in the real world. While Domain Randomization (DR) is commonly used to bridge this gap, it often relies on heuristics and can lead to overly…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Non-stationary domains, that change in unpredicted ways, are a challenge for agents searching for optimal policies in sequential decision-making problems. This paper presents a combination of Markov Decision Processes (MDP) with Answer Set…

Given a Markov decision process (MDP), we seek to learn representations for a range of policies to facilitate behavior steering at test time. As policies of an MDP are uniquely determined by their occupancy measures, we propose modeling…

Synthetic dimensions (SDs) opened the door for exploring previously inaccessible phenomena in high-dimensional synthetic space. However, construction of synthetic lattices with desired coupling properties is a challenging and unintuitive…