相关论文: ToolTango: Common sense Generalization in Predicti…

Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its use…

A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tools…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

Our goal is to enable a robot to learn how to sequence its actions to perform tasks specified as natural language instructions, given successful demonstrations from a human partner. The ability to plan high-level tasks can be factored as…

Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic…

Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…

Autonomous systems that efficiently utilize tools can assist humans in completing many common tasks such as cooking and cleaning. However, current systems fall short of matching human-level of intelligence in terms of adapting to novel…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured environments, precondition models will need to generalize to…

We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…