相关论文: GNM: A General Navigation Model to Drive Any Robot

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data. However, existing methods for data generation have generally focused on…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

Visual navigation policy is widely regarded as a promising direction, as it mimics humans by using egocentric visual observations for navigation. However, optical information of visual observations is difficult to be explicitly modeled like…

The utilization of broad datasets has proven to be crucial for generalization for a wide range of fields. However, how to effectively make use of diverse multi-task data for novel downstream tasks still remains a grand challenge in…

Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…

In this paper, we consider the problem of learning policies to control a large number of homogeneous robots. To this end, we propose a new algorithm we call Graph Policy Gradients (GPG) that exploits the underlying graph symmetry among the…

Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and…

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…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Vehicle trajectory prediction plays a vital role in intelligent transportation systems and autonomous driving, as it significantly affects vehicle behavior planning and control, thereby influencing traffic safety and efficiency. Numerous…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

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…

Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics,…