相关论文: Learning Long-Horizon Robot Exploration Strategies…

Few-shot object detection, learning to adapt to the novel classes with a few labeled data, is an imperative and long-lasting problem due to the inherent long-tail distribution of real-world data and the urgent demands to cut costs of data…

In reinforcement learning algorithms, it is a common practice to account for only a single view of the environment to make the desired decisions; however, utilizing multiple views of the environment can help to promote the learning of…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…

In reinforcement learning algorithms, leveraging multiple views of the environment can improve the learning of complicated policies. In multi-view environments, due to the fact that the views may frequently suffer from partial…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

Training multimodal agents via reinforcement learning for knowledge-intensive visual reasoning is fundamentally hindered by the extreme sparsity of outcome-based supervision and the unpredictability of live web environments. To resolve…

When searching for objects in cluttered environments, it is often necessary to perform complex interactions in order to move occluding objects out of the way and fully reveal the object of interest and make it graspable. Due to the…

We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…

Learning Machines is developing a flexible, cross-industry, advanced analytics platform, targeted during stealth-stage at a limited number of specific vertical applications. In this paper, we aim to integrate a general machine system to…

We introduce LHM-Humanoid, a benchmark and learning framework for long-horizon whole-body humanoid loco-manipulation in diverse, cluttered scenes. In our setting, multiple objects are displaced from their intended locations and may obstruct…

We examine five setups where an agent (or two agents) seeks to explore unknown environment without any prior information. Although seemingly very different, all of them can be formalized as Reinforcement Learning (RL) problems in hyperbolic…

Learning robot manipulation through deep reinforcement learning in environments with sparse rewards is a challenging task. In this paper we address this problem by introducing a notion of imaginary object goals. For a given manipulation…

In recent years, the demand for service robots capable of executing tasks beyond autonomous navigation has grown. In the future, service robots will be expected to perform complex tasks like 'Set table for dinner'. High-level tasks like…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

We address the task of long-horizon navigation in partially mapped environments for which active gathering of information about faraway unseen space is essential for good behavior. We present a novel planning strategy that, at training…

In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…

Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…

In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered…