相关论文: RT-Trajectory: Robotic Task Generalization via Hin…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…

Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…

Meta-Reinforcement Learning (Meta-RL) commonly generalizes via smoothness in the task encoding. While this enables local generalization around each training task, it requires dense coverage of the task space and leaves richer task space…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

Programming by demonstration has recently gained much attention due to its user-friendly and natural way to transfer human skills to robots. In order to facilitate the learning of multiple demonstrations and meanwhile generalize to new…

Some reinforcement learning (RL) algorithms can stitch pieces of experience to solve a task never seen before during training. This oft-sought property is one of the few ways in which RL methods based on dynamic-programming differ from RL…

To see is to sketch -- free-hand sketching naturally builds ties between human and machine vision. In this paper, we present a novel approach for translating an object photo to a sketch, mimicking the human sketching process. This is an…

Reinforcement learning (RL) has the potential to significantly improve clinical decision making. However, treatment policies learned via RL from observational data are sensitive to subtle choices in study design. We highlight a simple…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Large language models can exhibit emergent reasoning behaviors, often manifested as recurring lexical patterns (e.g., "wait," indicating verification). However, complex reasoning trajectories remain sparse in unconstrained sampling, and…

Width-based planning methods deal with conjunctive goals by decomposing problems into subproblems of low width. Algorithms like SIW thus fail when the goal is not easily serializable in this way or when some of the subproblems have a high…

Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…

Recent work on robot manipulation has advanced policy generalization to novel scenarios. However, it is often difficult to characterize how different evaluation settings actually represent generalization from the training distribution of a…

We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…

Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like…

Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad terrain distributions, they often struggle with arbitrary and…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…