相关论文: Rethinking Mutual Information for Language Conditi…

Language identification (LID) recognizes the language of a spoken utterance automatically. According to recent studies, LID models trained with an automatic speech recognition (ASR) task perform better than those trained with a LID task…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills…

Existing studies on self-supervised speech representation learning have focused on developing new training methods and applying pre-trained models for different applications. However, the quality of these models is often measured by the…

Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…

Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety…

Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

This paper combines two contributions. First, we introduce an extension of the Meta-World benchmark, which we call "Language-World," which allows a large language model to operate in a simulated robotic environment using semi-structured…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

Natural language is often the easiest and most convenient modality for humans to specify tasks for robots. However, learning to ground language to behavior typically requires impractical amounts of diverse, language-annotated demonstrations…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Our goal is for robots to follow natural language instructions like "put the towel next to the microwave." But getting large amounts of labeled data, i.e. data that contains demonstrations of tasks labeled with the language instruction, is…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

An information-theoretic upper bound on the generalization error of supervised learning algorithms is derived. The bound is constructed in terms of the mutual information between each individual training sample and the output of the…