相关论文: Open X-Embodiment: Robotic Learning Datasets and R…

Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…

Deep Learning has thrived on the emergence of biomedical big data. However, medical datasets acquired at different institutions have inherent bias caused by various confounding factors such as operation policies, machine protocols,…

Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints on computational power and memory. This work presents an…

Deep reinforcement learning has shown remarkable success in the past few years. Highly complex sequential decision making problems have been solved in tasks such as game playing and robotics. Unfortunately, the sample complexity of most…

Traditional multitask learning methods basically can only exploit common knowledge in task- or language-wise, which lose either cross-language or cross-task knowledge. This paper proposes a general multilingual multitask model, named…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Reinforcement learning (RL) algorithms hold the promise of enabling autonomous skill acquisition for robotic systems. However, in practice, real-world robotic RL typically requires time consuming data collection and frequent human…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

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…

Robots should be able to learn complex behaviors from human demonstrations. In practice, these human-provided datasets are inevitably imbalanced: i.e., the human demonstrates some subtasks more frequently than others. State-of-the-art…

We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Open-ended learning is a core research field of developmental robotics and AI aiming to build learning machines and robots that can autonomously acquire knowledge and skills incrementally as infants and children. The first contribution of…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…