相关论文: Robo-MUTUAL: Robotic Multimodal Task Specification…

Multimodal learning has demonstrated remarkable performance improvements over unimodal architectures. However, multimodal learning methods often exhibit deteriorated performances if one or more modalities are missing. This may be attributed…

Task specification is at the core of programming autonomous robots. A low-effort modality for task specification is critical for engagement of non-expert end-users and ultimate adoption of personalized robot agents. A widely studied…

Relative placement tasks are an important category of tasks in which one object needs to be placed in a desired pose relative to another object. Previous work has shown success in learning relative placement tasks from just a small number…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned…

This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

Multi-domain task-incremental learning requires a model to sequentially acquire knowledge across visually diverse domains without forgetting prior tasks, and without access to task identity at inference. Parameter-efficient methods built on…

We propose to build omni-modal intelligence, which is capable of understanding any modality and learning universal representations. In specific, we propose a scalable pretraining paradigm, named Multimodal Context (MiCo), which can scale up…

Multimodal learning often outperforms its unimodal counterparts by exploiting unimodal contributions and cross-modal interactions. However, focusing only on integrating multimodal features into a unified comprehensive representation…

Large multimodal models (LMMs) have gained impressive performance due to their outstanding capability in various understanding tasks. However, these models still suffer from some fundamental limitations related to robustness and…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

Multimodal models trained on complete modality data often exhibit a substantial decrease in performance when faced with imperfect data containing corruptions or missing modalities. To address this robustness challenge, prior methods have…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…