相关论文: Context is Everything: Implicit Identification for…

Reprogrammable mechanical metamaterials, composed of a lattice of discretely adaptive elements, are emerging as a promising platform for mechanical intelligence. To operate in unknown environments, such structures must go beyond passive…

Evolutionary robot systems are usually affected by the properties of the environment indirectly through selection. In this paper, we present and investigate a system where the environment also has a direct effect: through regulation. We…

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Technological developments call for increasing perception and action capabilities of robots. Among other skills, vision systems that can adapt to any possible change in the working conditions are needed. Since these conditions are…

Multi-task ``vision-language-action'' (VLA) models have recently demonstrated increasing promise as generalist foundation models for robotics, achieving non-trivial performance out of the box on new tasks in new environments. However, for…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Natural behavior consists of dynamics that are complex and unpredictable, especially when trying to predict many steps into the future. While some success has been found in building representations of behavior under constrained or…

A compact information-rich representation of the environment, also called a feature abstraction, can simplify a robot's task of mapping its raw sensory inputs to useful action sequences. However, in environments that are non-stationary and…

While pre-trained visual representations have significantly advanced imitation learning, they are often task-agnostic as they remain frozen during policy learning. In this work, we explore leveraging pre-trained text-to-image diffusion…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

In-context learning (ICL) refers to the ability of a model to learn new tasks from examples in its input without any parameter updates. In contrast to previous theories of ICL relying on toy models and data settings, recently it has been…