相关论文: DrEureka: Language Model Guided Sim-To-Real Transf…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Deep Reinforcement Learning (DRL) experiments are commonly performed in simulated environments due to the tremendous training sample demands from deep neural networks. In contrast, model-based Bayesian Learning allows a robot to learn good…

Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…

Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Robots must integrate multiple sensory modalities to act effectively in the real world. Yet, learning such multimodal policies at scale remains challenging. Simulation offers a viable solution, but while vision has benefited from…

Recent studies provide large language models (LLMs) with textual task-solving experiences via prompts to improve their performance. However, previous methods rely on substantial human labor or time to gather such experiences for each task,…

Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…

Reinforcement Learning (RL) in games has gained significant momentum in recent years, enabling the creation of different agent behaviors that can transform a player's gaming experience. However, deploying RL agents in production…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

In this paper, we delve into the advancement of domain-specific Large Language Models (LLMs) with a focus on their application in software development. We introduce DevAssistLlama, a model developed through instruction tuning, to assist…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Large language models (LLMs) are recognized as systems that closely mimic aspects of human intelligence. This capability has attracted attention from the social science community, who see the potential in leveraging LLMs to replace human…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

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,…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…