相关论文: CausalWorld: A Robotic Manipulation Benchmark for …

Minecraft, as an open-world virtual interactive environment, has become a prominent platform for research on agent decision-making and execution. Existing works primarily adopt a single Large Language Model (LLM) agent to complete various…

In this paper, we discuss structure learning of causal networks from multiple data sets obtained by external intervention experiments where we do not know what variables are manipulated. For example, the conditions in these experiments are…

Reinforcement learning (RL) and causal modelling naturally complement each other. The goal of causal modelling is to predict the effects of interventions in an environment, while the goal of reinforcement learning is to select interventions…

Causal understanding is important in many disciplines of science and engineering, where we seek to understand how different factors in the system causally affect an experiment or situation and pave a pathway towards creating effective or…

Many open problems in machine learning are intrinsically related to causality, however, the use of causal analysis in machine learning is still in its early stage. Within a general reinforcement learning setting, we consider the problem of…

Artificial General Intelligence (AGI) Agents and Robots must be able to cope with everchanging environments and tasks. They must be able to actively construct new internal causal models of their interactions with the environment when new…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

A comprehensive understanding of causality is critical for navigating and operating within today's complex real-world systems. The absence of realistic causal models with known data generating processes complicates fair benchmarking. In…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Real-world classification problems must contend with domain shift, the (potential) mismatch between the domain where a model is deployed and the domain(s) where the training data was gathered. Methods to handle such problems must specify…

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Transformer networks have seen great success in natural language processing and machine vision, where task objectives such as next word prediction and image classification benefit from nuanced context sensitivity across high-dimensional…

Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific randomization technique and often on a highly customized…

Transfer learning enables to re-use knowledge learned on a source task to help learning a target task. A simple form of transfer learning is common in current state-of-the-art computer vision models, i.e. pre-training a model for image…

The benefit of multi-task learning over single-task learning relies on the ability to use relations across tasks to improve performance on any single task. While sharing representations is an important mechanism to share information across…

Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks. However, the simplicity of tasks and the uniformity of environments in existing benchmarks restrict their effective…

Generalization in robotic manipulation remains a critical challenge, particularly when scaling to new environments with limited demonstrations. This paper introduces CAGE, a novel robotic manipulation policy designed to overcome these…

Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…