相关论文: Learning to Build by Building Your Own Instruction…

We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…

The assembly instruction is a mandatory component of Lego-like brick sets.The conventional production of assembly instructions requires a considerable amount of manual fine-tuning, which is intractable for casual users and customized brick…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Diffusion models excel at generating photo-realistic images but come with significant computational costs in both training and sampling. While various techniques address these computational challenges, a less-explored issue is designing an…

Generating instructional images of human daily actions from an egocentric viewpoint serves as a key step towards efficient skill transfer. In this paper, we introduce a novel problem -- egocentric action frame generation. The goal is to…

We present APT, an advanced Large Language Model (LLM)-driven framework that enables autonomous agents to construct complex and creative structures within the Minecraft environment. Unlike previous approaches that primarily concentrate on…

We study building multi-task agents in open-world environments. Without human demonstrations, learning to accomplish long-horizon tasks in a large open-world environment with reinforcement learning (RL) is extremely inefficient. To tackle…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

This study explores the capabilities of multimodal large language models (LLMs) in handling challenging multistep tasks that integrate language and vision, focusing on model steerability, composability, and the application of long-term…

In the vision and language navigation task, the agent may encounter ambiguous situations that are hard to interpret by just relying on visual information and natural language instructions. We propose an interactive learning framework to…

We address the problem of teaching a deep reinforcement learning (RL) agent to follow instructions in multi-task environments. Instructions are expressed in a well-known formal language -- linear temporal logic (LTL) -- and can specify a…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

Inferring step-wise actions to assemble 3D objects with primitive bricks from images is a challenging task due to complex constraints and the vast number of possible combinations. Recent studies have demonstrated promising results on…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Autonomous artificial intelligence (AI) agents have emerged as promising protocols for automatically understanding the language-based environment, particularly with the exponential development of large language models (LLMs). However, a…

A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…

In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…

Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…