相关论文: Real Evaluations Tractability using Continuous Goa…

World-model-based imagine-then-act becomes a promising paradigm for robotic manipulation, yet existing approaches typically support either purely image-based forecasting or reasoning over partial 3D geometry, limiting their ability to…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Effectively scaling GUI automation is essential for computer-use agents (CUAs); however, existing work primarily focuses on scaling GUI grounding rather than the more crucial GUI planning, which requires more sophisticated data collection.…

Continual learning is a challenging real-world problem for constructing a mature AI system when data are provided in a streaming fashion. Despite recent progress in continual classification, the researches of continual object detection are…

Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

Goal-models (GM) have been used in adaptive systems engineering for their ability to capture the different ways to fulfill the requirements. Contextual GM (CGM) extend these models with the notion of context and context-dependent…

Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…

Training of Artificial Neural Networks is a complex task of great importance in supervised learning problems. Evolutionary Algorithms are widely used as global optimization techniques and these approaches have been used for Artificial…

Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditions. Existing evaluations typically treat test episodes as…

Deploying autonomous robots that can learn new skills from demonstrations is an important challenge of modern robotics. Existing solutions often apply end-to-end imitation learning with Vision-Language Action (VLA) models or symbolic…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…

In graph-based active learning, algorithms based on expected error minimization (EEM) have been popular and yield good empirical performance. The exact computation of EEM optimally balances exploration and exploitation. In practice,…

The reliability of safety-critical industrial systems hinges on accurate and robust fault diagnosis in rotating machinery. Conventional graph neural networks (GNNs) for machinery fault diagnosis face limitations in modeling complex dynamic…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial…