相关论文: Verifiable Learned Behaviors via Motion Primitive …

Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…

We propose a method which generates reactive robot behavior learned from human demonstration. In order to do so, we use the Playful programming language which is based on the reactive programming paradigm. This allows us to represent the…

In this paper, we examine the problem of robotic manipulation of granular media. We evaluate multiple predictive models used to infer the dynamics of scooping and dumping actions. These models are evaluated on a task that involves…

This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

Considering the driving habits which are learned from the naturalistic driving data in the path-tracking system can significantly improve the acceptance of intelligent vehicles. Therefore, the goal of this paper is to generate the…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Probabilistic representations of movement primitives open important new possibilities for machine learning in robotics. These representations are able to capture the variability of the demonstrations from a teacher as a probability…

Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this…

Recently developed pretrained models can encode rich world knowledge expressed in multiple modalities, such as text and images. However, the outputs of these models cannot be integrated into algorithms to solve sequential decision-making…

Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…

In this study, we investigate how a robot can generate novel and creative actions from its own experience of learning basic actions. Inspired by a machine learning approach to computational creativity, we propose a dynamic neural network…

Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…

Our goal is to enable social robots to interact autonomously with humans in a realistic, engaging, and expressive manner. The 12 Principles of Animation are a well-established framework animators use to create movements that make characters…

While large vision-language models can generate motion graphics animations from text prompts, they regularly fail to include all spatio-temporal properties described in the prompt. We introduce MoVer, a motion verification DSL based on…

Large language models possess impressive capabilities in generating programs (e.g., Python) from natural language descriptions to execute robotic tasks. However, these generated programs often contain errors that violate externally given…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

Transformers have been shown to emulate logical deduction over natural language theories (logical rules expressed in natural language), reliably assigning true/false labels to candidate implications. However, their ability to generate…