相关论文: PALMER: Perception-Action Loop with Memory for Lon…

Large Language Models (LLMs) have made significant progress in open-ended dialogue, yet their inability to retain and retrieve relevant information from long-term interactions limits their effectiveness in applications requiring sustained…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…

Empowerment has the potential to help agents learn large skillsets, but is not yet a scalable solution for training general-purpose agents. Recent empowerment methods learn diverse skillsets by maximizing the mutual information between…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…

Large and diverse datasets have been the cornerstones of many impressive advancements in artificial intelligence. Intelligent creatures, however, learn by interacting with the environment, which changes the input sensory signals and the…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…

Effective urban planning is crucial for enhancing residents' quality of life and ensuring societal stability, playing a pivotal role in the sustainable development of cities. Current planning methods heavily rely on human experts, which are…

Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Large Language Models (LLMs) are increasingly used to power autonomous agents for complex, multi-step tasks. However, human-agent interaction remains pointwise and reactive: users approve or correct individual actions to mitigate immediate…

The practical application of learning agents requires sample efficient and interpretable algorithms. Learning from behavioral priors is a promising way to bootstrap agents with a better-than-random exploration policy or a safe-guard against…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Reinforcement Learning (RL) is essential for evolving Large Language Models (LLMs) into autonomous agents capable of long-horizon planning, yet a practical recipe for scaling RL in complex, multi-turn environments remains elusive. This…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

We present the Latent Adaptive Planner (LAP), a trajectory-level latent-variable policy for dynamic nonprehensile manipulation (e.g., box catching) that formulates planning as inference in a low-dimensional latent space and is learned…

This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…