相关论文: From Real World to Logic and Back: Learning Genera…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

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…

Discovering the symbols and rules that can be used in long-horizon planning from a robot's unsupervised exploration of its environment and continuous sensorimotor experience is a challenging task. The previous studies proposed learning…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…

A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are adept at finding…

While large language models (LLMs) have shown great potential across various domains, their applications in robotics remain largely limited to static prompt-based behaviors and still face challenges in complex tasks under zero-shot or…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

This paper presents a self-supervised Learning from Learned Hallucination (LfLH) method to learn fast and reactive motion planners for ground and aerial robots to navigate through highly constrained environments. The recent Learning from…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract…

Humans can infer concepts from image pairs and apply those in the physical world in a completely different setting, enabling tasks like IKEA assembly from diagrams. If robots could represent and infer high-level concepts, it would…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

Integrating robotics into everyday scenarios like tutoring or physical training requires robots capable of adaptive, socially engaging, and goal-oriented interactions. While Large Language Models show promise in human-like communication,…