相关论文: RT-1: Robotics Transformer for Real-World Control …

Pretrained transformers readily adapt to new sequence modeling tasks via zero-shot prompting, but relational domains still lack architectures that transfer across datasets and tasks. The core challenge is the diversity of relational data,…

Transfer-learning and meta-learning are two effective methods to apply knowledge learned from large data sources to new tasks. In few-class, few-shot target task settings (i.e. when there are only a few classes and training examples…

Transformer networks have seen great success in natural language processing and machine vision, where task objectives such as next word prediction and image classification benefit from nuanced context sensitivity across high-dimensional…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…

Despite their effectiveness and popularity in offline or model-based reinforcement learning (RL), transformers remain underexplored in online model-free RL due to their sensitivity to training setups and model design decisions such as how…

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…

The Transformer model, initially achieving significant success in the field of natural language processing, has recently shown great potential in the application of tactile perception. This review aims to comprehensively outline the…

Transformers have significantly impacted domains like natural language processing, computer vision, and robotics, where they improve performance compared to other neural networks. This survey explores how transformers are used in…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Transformer has achieved great successes in learning vision and language representation, which is general across various downstream tasks. In visual control, learning transferable state representation that can transfer between different…

Transfer learning is a popular approach to bypassing data limitations in one domain by leveraging data from another domain. This is especially useful in robotics, as it allows practitioners to reduce data collection with physical robots,…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

The Transformer is a highly successful deep learning model that has revolutionised the world of artificial neural networks, first in natural language processing and later in computer vision. This model is based on the attention mechanism…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…

We propose an algorithm for meta-learning that is model-agnostic, in the sense that it is compatible with any model trained with gradient descent and applicable to a variety of different learning problems, including classification,…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…