相关论文: TarGF: Learning Target Gradient Field to Rearrange…

Automated Guided Vehicles (AGVs) have been widely used for material handling in flexible shop floors. Each product requires various raw materials to complete the assembly in production process. AGVs are used to realize the automatic…

Text-to-motion generation, which synthesizes 3D human motions from text inputs, holds immense potential for applications in gaming, film, and robotics. Recently, diffusion-based methods have been shown to generate more diversity and…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…

Current reinforcement learning (RL) often suffers when solving a challenging exploration problem where the desired outcomes or high rewards are rarely observed. Even though curriculum RL, a framework that solves complex tasks by proposing a…

The goal of multi-task learning is to enable more efficient learning than single task learning by sharing model structures for a diverse set of tasks. A standard multi-task learning objective is to minimize the average loss across all…

Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location prediction paradigms to achieve long-term goal reasoning, yet…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

This paper presents a novel optimization method for maximizing generalization over tasks in meta-learning. The goal of meta-learning is to learn a model for an agent adapting rapidly when presented with previously unseen tasks. Tasks are…

Given an unconditional diffusion model and a predictor for a target property of interest (e.g., a classifier), the goal of training-free guidance is to generate samples with desirable target properties without additional training. Existing…

Robust fine-tuning aims to adapt large foundation models to downstream tasks while preserving their robustness to distribution shifts. Existing methods primarily focus on constraining and projecting current model towards the pre-trained…

Learning with sparse rewards remains a significant challenge in reinforcement learning (RL), especially when the aim is to train a policy capable of achieving multiple different goals. To date, the most successful approaches for dealing…

Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…

The effectiveness of reinforcement learning (RL) agents in continuous control robotics tasks is mainly dependent on the design of the underlying reward function, which is highly prone to reward hacking. A misalignment between the reward…

Task-Oriented Grasping (TOG) requires robots to select grasps that are functionally appropriate for a specified task - a challenge that demands an understanding of task semantics, object affordances, and functional constraints. We present…

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement…

Image-goal navigation aims to steer an agent towards the goal location specified by an image. Most prior methods tackle this task by learning a navigation policy, which extracts visual features of goal and observation images, compares their…