相关论文: Train What You Know -- Precise Pick-and-Place with…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Recent advances in Deep Learning have greatly improved performance on various tasks such as object detection, image segmentation, sentiment analysis. The focus of most research directions up until very recently has been on beating…

Instruction tuning has been proven effective in enhancing zero-shot generalization across various tasks and in improving the performance of specific tasks. For task-specific improvements, strategically selecting and training on related…

Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…

Efficient and accurate particle tracking is crucial for measuring Standard Model parameters and searching for new physics. This task consists of two major computational steps: track finding, the identification of a subset of all hits that…

We present a novel neural-networks-based algorithm to compute optimal transport maps and plans for strong and weak transport costs. To justify the usage of neural networks, we prove that they are universal approximators of transport plans…

This paper presents an automatic network adaptation method that finds a ConvNet structure well-suited to a given target task, e.g., image classification, for efficiency as well as accuracy in transfer learning. We call the concept…

As autonomous agents become increasingly sophisticated, validating their sequential behavior presents a significant challenge. Traditional testing approaches require manual specification, exact sequence matching, or thousands of training…

Short-term traffic volume prediction is crucial for intelligent transportation system and there are many researches focusing on this field. However, most of these existing researches concentrated on refining model architecture and ignored…

Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…

Many problems in machine learning involve calculating correspondences between sets of objects, such as point clouds or images. Discrete optimal transport provides a natural and successful approach to such tasks whenever the two sets of…

Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to be reliable. Meanwhile, learning is useful for adaptation,…

Robotic applications require both correct task performance and compensation for undefined behaviors. Although deep learning is a promising approach to perform complex tasks, the response to undefined behaviors that are not reflected in the…

Robotics research has made significant strides in learning, yet mastering basic skills like object placement remains a fundamental challenge. A key bottleneck is the acquisition of large-scale, high-quality data, which is often a manual and…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

We derive a synaptic weight update rule for learning temporally precise spike train to spike train transformations in multilayer feedforward networks of spiking neurons. The framework, aimed at seamlessly generalizing error backpropagation…

The impressive performance of deep learning architectures is associated with a massive increase in model complexity. Millions of parameters need to be tuned, with training and inference time scaling accordingly, together with energy…

Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…

Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…