相关论文: LIBERO: Benchmarking Knowledge Transfer for Lifelo…

As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Recent studies provide large language models (LLMs) with textual task-solving experiences via prompts to improve their performance. However, previous methods rely on substantial human labor or time to gather such experiences for each task,…

Long-term memory (LTM) is essential for large language models (LLMs) to achieve autonomous intelligence in complex, evolving environments. Despite increasing efforts in memory-augmented and retrieval-based architectures, there remains a…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Continual learning (CL) has emerged as a pivotal paradigm to enable large language models (LLMs) to dynamically adapt to evolving knowledge and sequential tasks while mitigating catastrophic forgetting-a critical limitation of the static…

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…

In lifelong learning, a learner faces a sequence of tasks with shared structure and aims to identify and leverage it to accelerate learning. We study the setting where such structure is captured by a common representation of data. Unlike…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

Lifelong learning, also known as continual or incremental learning, is a crucial component for advancing Artificial General Intelligence (AGI) by enabling systems to continuously adapt in dynamic environments. While large language models…

Multi-agent reinforcement learning (MARL) faces two critical bottlenecks distinct from single-agent RL: credit assignment in cooperative tasks and partial observability of environmental states. We propose LERO, a framework integrating Large…

Learning natural, stable, and compositionally generalizable whole-body control policies for humanoid robots performing simultaneous locomotion and manipulation (loco-manipulation) remains a fundamental challenge in robotics. Existing…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Lifelong learning aims to create AI systems that continuously and incrementally learn during a lifetime, similar to biological learning. Attempts so far have met problems, including catastrophic forgetting, interference among tasks, and the…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Recent research efforts in lifelong learning propose to grow a mixture of models to adapt to an increasing number of tasks. The proposed methodology shows promising results in overcoming catastrophic forgetting. However, the theory behind…

Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…