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

Accurate segmentation of tubular and curvilinear structures, such as blood vessels, neurons, and road networks, is crucial in various applications. A key challenge is ensuring topological correctness while maintaining computational…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally…

Multi-relational temporal graphs are powerful tools for modeling real-world data, capturing the evolving and interconnected nature of entities over time. Recently, many novel models are proposed for ML on such graphs intensifying the need…

Training machine learning models requires feeding input data for models to ingest. Input pipelines for machine learning jobs are often challenging to implement efficiently as they require reading large volumes of data, applying complex…

Designing better deep networks and better reinforcement learning (RL) algorithms are both important for deep RL. This work focuses on the former. Previous methods build the network with several modules like CNN, LSTM and Attention. Recent…

When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments with stochastic outcomes. Enhancing transparency in the…

Despite the recent success of deep neural networks, it remains challenging to effectively model the long-tail class distribution in visual recognition tasks. To address this problem, we first investigate the performance bottleneck of the…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

The Trapped Gyro-Landau Fluid (TGLF) model provides fast, accurate predictions of turbulent transport in tokamaks, but whole device simulations requiring thousands of evaluations remain computationally expensive. Neural network (NN)…

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks,…

One of the key challenges of collaborative machine learning, without data sharing, is multimodal data heterogeneity in real-world settings. While Federated Learning (FL) enables model training across multiple clients, existing frameworks,…

The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Recent advances in meta-optics have enabled diverse functionalities in compact optical devices; however, conventional forward design approaches become inadequate as device complexity and scale grow. Inverse design offers a powerful…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

Humans accumulate knowledge in a lifelong fashion. Modern deep neural networks, on the other hand, are susceptible to catastrophic forgetting: when adapted to perform new tasks, they often fail to preserve their performance on previously…

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…