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

Multimodal deep learning systems which employ multiple modalities like text, image, audio, video, etc., are showing better performance in comparison with individual modalities (i.e., unimodal) systems. Multimodal machine learning involves…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Large Multimodal Models (LMMs) exhibit remarkable multi-tasking ability by learning mixed instruction datasets. However, novel tasks would be encountered sequentially in dynamic world, which urges for equipping LMMs with multimodal…

Multi-modal learning relates information across observation modalities of the same physical phenomenon to leverage complementary information. Most multi-modal machine learning methods require that all the modalities used for training are…

Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot, multitask transfer learning framework that allows a system…

Multimodal learning leverages the integration of diverse data modalities to enhance performance in complex tasks. Yet, it frequently encounters incomplete or redundant modality data in real-world scenarios. This paper presents a…

Demonstrations and natural language instructions are two common ways to specify and teach robots novel tasks. However, for many complex tasks, a demonstration or language instruction alone contains ambiguities, preventing tasks from being…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object…

We present a simplified, task-agnostic multi-modal pre-training approach that can accept either video or text input, or both for a variety of end tasks. Existing pre-training are task-specific by adopting either a single cross-modal encoder…

Multimodal learning leverages complementary information derived from different modalities, thereby enhancing performance in medical image segmentation. However, prevailing multimodal learning methods heavily rely on extensive well-annotated…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…

The field of multimodal robot navigation in indoor environments has garnered significant attention in recent years. However, as tasks and methods become more advanced, the action decision systems tend to become more complex and operate as…