相关论文: THE COLOSSEUM: A Benchmark for Evaluating Generali…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

The emergence of Large Language Models (LLMs) has improved the prospects for robotic tasks. However, existing benchmarks are still limited to single tasks with limited generalization capabilities. In this work, we introduce a comprehensive…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Driven by inherent uncertainty and the sim-to-real gap, robust reinforcement learning (RL) seeks to improve resilience against the complexity and variability in agent-environment sequential interactions. Despite the existence of a large…

Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…

Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…

The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations…

Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In…

Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each…

Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing necessitates both more informative…

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used to facilitate benchmarking in robotic manipulation, prosthetic design and rehabilitation research. The objects in the set are designed to cover a…

Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…

As a representative cyber-physical system (CPS), robotic manipulator has been widely adopted in various academic research and industrial processes, indicating its potential to act as a universal interface between the cyber and the physical…

Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…

Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…

Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…

A recent reformulation [1] of the problem of Coulomb gases in the presence of a dynamical dielectric medium showed that finite temperature simulations of such systems can be accomplished on the basis of completely local Hamiltonians on a…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…