相关论文: RoboMorph: In-Context Meta-Learning for Robot Dyna…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Trajectory prediction has garnered widespread attention in different fields, such as autonomous driving and robotic navigation. However, due to the significant variations in trajectory patterns across different scenarios, models trained in…

Recently introduced by some of the authors, the in-context identification paradigm aims at estimating, offline and based on synthetic data, a meta-model that describes the behavior of a whole class of systems. Once trained, this meta-model…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Machine learning methods have found novel application areas in various disciplines as they offer low-computational cost solutions to complex problems. Recently, metasurface design has joined among these applications, and neural networks…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

In the field of robotic control, designing individual controllers for each robot leads to high computational costs. Universal control policies, applicable across diverse robot morphologies, promise to mitigate this challenge. Predominantly,…

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

We present the interpretable meta neural ordinary differential equation (iMODE) method to rapidly learn generalizable (i.e., not parameter-specific) dynamics from trajectories of multiple dynamical systems that vary in their physical…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Meta-learning is a line of research that develops the ability to leverage past experiences to efficiently solve new learning problems. Meta-Reinforcement Learning (meta-RL) methods demonstrate a capability to learn behaviors that…

Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, such as vision-language-action (VLA) models, are typically…

Meta reinforcement learning (Meta RL) has been amply explored to quickly learn an unseen task by transferring previously learned knowledge from similar tasks. However, most state-of-the-art algorithms require the meta-training tasks to have…

The power of foundation models (FMs) lies in their capacity to learn highly expressive representations that can be adapted to a broad spectrum of tasks. However, these pretrained models require additional training stages to become effective…

Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on…

Dynamic representation learning plays a pivotal role in understanding the evolution of linguistic content over time. On this front both context and time dynamics as well as their interplay are of prime importance. Current approaches model…

Transformer-based models have transformed the landscape of natural language processing (NLP) and are increasingly applied to computer vision tasks with remarkable success. These models, renowned for their ability to capture long-range…