相关论文: Can Foundation Models Perform Zero-Shot Task Speci…

Terrain traversability estimation is crucial for autonomous robots, especially in unstructured environments where visual cues and reasoning play a key role. While vision-language models (VLMs) offer potential for zero-shot estimation, the…

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Natural Human-Robot Interaction (HRI) is one of the key components for service robots to be able to work in human-centric environments. In such dynamic environments, the robot needs to understand the intention of the user to accomplish a…

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…

Vision systems to see and reason about the compositional nature of visual scenes are fundamental to understanding our world. The complex relations between objects and their locations, ambiguities, and variations in the real-world…

In the development of safety and mission-critical systems, including autonomous space robotic missions, complex behaviour is captured during the requirements elicitation phase. Requirements are typically expressed using natural language…

A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…

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…

Approaches to goal recognition have progressively relaxed the requirements about the amount of domain knowledge and available observations, yielding accurate and efficient algorithms capable of recognizing goals. However, to recognize goals…

Equitable urban transportation applications require high-fidelity digital representations of the built environment: not just streets and sidewalks, but bike lanes, marked and unmarked crossings, curb ramps and cuts, obstructions, traffic…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…

The automatic and efficient discovery of skills, without supervision, for long-living autonomous agents, remains a challenge of Artificial Intelligence. Intrinsically Motivated Goal Exploration Processes give learning agents a…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…

Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…

A fundamental challenge of shared autonomy is to use high-DoF robots to assist, rather than hinder, humans by first inferring user intent and then empowering the user to achieve their intent. Although successful, prior methods either rely…