相关论文: Closed-Loop Long-Horizon Robotic Planning via Equi…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Long-horizon tasks requiring multi-step reasoning and dynamic re-planning remain challenging for large language models (LLMs). Sequential prompting methods are prone to context drift, loss of goal information, and recurrent failure cycles,…

Video generative models trained on expert demonstrations have been utilized as performant text-conditioned visual planners for solving robotic tasks. However, generalization to unseen tasks remains a challenge. Whereas improved…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…

Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…

Extending large language models to effectively handle long contexts requires instruction fine-tuning on input sequences of similar length. To address this, we present LongAlign -- a recipe of the instruction data, training, and evaluation…

The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires…

End-to-end autonomous driving planners are commonly trained by imitating a single logged trajectory, yet evaluated by rule-based planning metrics that measure safety, feasibility, progress, and comfort. This creates a training--evaluation…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

Open world language conditioned task planning is crucial for robots operating in large-scale household environments. While many recent works attempt to address this problem using Large Language Models (LLMs) via prompting or training, a key…

In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant…

In the field of robotics, researchers face a critical challenge in ensuring reliable and efficient task planning. Verifying high-level task plans before execution significantly reduces errors and enhance the overall performance of these…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…