相关论文: Automating Transfer of Robot Task Plans using Func…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

We explore possible methods for multi-task transfer learning which seek to exploit the shared physical structure of robotics tasks. Specifically, we train policies for a base set of pre-training tasks, then experiment with adapting to new…

In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base that enables: 1. its efficient population from natural language…

Programming with dependent types is a blessing and a curse. It is a blessing to be able to bake invariants into the definition of data-types: we can finally write correct-by-construction software. However, this extreme accuracy is also a…

Formalizing cooking procedures remains a challenging task due to their inherent complexity and ambiguity. We introduce an extensible domain-specific language for representing recipes as directed action graphs, capturing processes,…

Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

Task arithmetic enables efficient model editing by representing task-specific changes as vectors in parameter space. Task arithmetic typically assumes that the source and target models are initialized from the same pre-trained parameters.…

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…

Motion planning is integral to robotics applications such as autonomous driving, surgical robots, and industrial manipulators. Existing planning methods lack scalability to higher-dimensional spaces, while recent learning based planners…

Langlands' functoriality principle predicts deep relations between the local and automorphic spectra of different reductive groups. This has been generalized by the relative Langlands program to include spherical varieties, among which…

Training a robotic policy from scratch using deep reinforcement learning methods can be prohibitively expensive due to sample inefficiency. To address this challenge, transferring policies trained in the source domain to the target domain…

Trust is essential in shaping human interactions with one another and with robots. This paper discusses how human trust in robot capabilities transfers across multiple tasks. We first present a human-subject study of two distinct task…

Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

Every home is different, and every person likes things done in their particular way. Therefore, home robots of the future need to both reason about the sequential nature of day-to-day tasks and generalize to user's preferences. To this end,…

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…

This paper proposes an approach to domain transfer based on a pairwise loss function that helps transfer control policies learned in simulation onto a real robot. We explore the idea in the context of a 'category level' manipulation task…

In symbolic planning systems, the knowledge on the domain is commonly provided by an expert. Recently, an automatic abstraction procedure has been proposed in the literature to create a Planning Domain Definition Language (PDDL)…