相关论文: A Backbone for Long-Horizon Robot Task Understandi…

Domain generalization on graphs aims to develop models with robust generalization capabilities, ensuring effective performance on the testing set despite disparities between testing and training distributions. However, existing methods…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Multitask Representation Learning (MRL) has emerged as a prevalent technique to improve sample efficiency in Reinforcement Learning (RL). Empirical studies have found that training agents on multiple tasks simultaneously within online and…

Federated Learning (FL) has emerged as the state-of-the-art approach for learning from decentralized data in privacy-constrained scenarios.However, system and statistical challenges hinder its real-world applicability, requiring efficient…

Recently, the success of large models has demonstrated the importance of scaling up model size. This has spurred interest in exploring collaborative training of large-scale models from federated learning perspective. Due to computational…

Pre-training over mixtured multi-task, multi-domain, and multi-modal data remains an open challenge in vision perception pre-training. In this paper, we propose GPPF, a General Perception Pre-training Framework, that pre-trains a task-level…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Heterogeneous federated multi-task learning (HFMTL) is a federated learning technique that combines heterogeneous tasks of different clients to achieve more accurate, comprehensive predictions. In real-world applications, visual and natural…

While deep networks can learn complex functions such as classifiers, detectors, and trackers, many applications require models that continually adapt to changing input distributions, changing tasks, and changing environmental conditions.…

Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…

We envision a system to continuously build and maintain a map based on earth-scale neural radiance fields (NeRF) using data collected from vehicles and drones in a lifelong learning manner. However, existing large-scale modeling by NeRF has…

Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…

Deploying deep models in real-world scenarios entails a number of challenges, including computational efficiency and real-world (e.g., long-tailed) data distributions. We address the combined challenge of learning long-tailed distributions…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

To enhance the reproducibility and reliability of deep learning models, we address a critical gap in current training methodologies: the lack of mechanisms that ensure consistent and robust performance across runs. Our empirical analysis…

Accurate and high-resolution precipitation nowcasting from radar echo sequences is crucial for disaster mitigation and economic planning, yet it remains a significant challenge. Key difficulties include modeling complex multi-scale…

We introduce DeepFleet, a suite of foundation models designed to support coordination and planning for large-scale mobile robot fleets. These models are trained on fleet movement data, including robot positions, goals, and interactions,…

In this paper, we consider a way to safely navigate the robots in unknown environments using measurement data from sensory devices. The control barrier function (CBF) is one of the promising approaches to encode safety requirements of the…

In this paper, we introduce HDPlanner, a deep reinforcement learning (DRL) based framework designed to tackle two core and challenging tasks for mobile robots: autonomous exploration and navigation, where the robot must optimize its…