相关论文: X-MOBILITY: End-To-End Generalizable Navigation vi…

Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using reinforcement learning can develop specialist policies that…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Reinforcement learning from large-scale offline datasets provides us with the ability to learn policies without potentially unsafe or impractical exploration. Significant progress has been made in the past few years in dealing with the…

In-context generation is a key component of large language models' (LLMs) open-task generalization capability. By leveraging a few examples as context, LLMs can perform both in-domain and out-of-domain tasks. Recent advancements in…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…

Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…

Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics,…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Generalization of imitation-learned navigation policies to environments unseen in training remains a major challenge. We address this by conducting the first large-scale study of how data quantity and data diversity affect real-world…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Recent advancements in world models have revolutionized dynamic environment simulation, allowing systems to foresee future states and assess potential actions. In autonomous driving, these capabilities help vehicles anticipate the behavior…

Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction…

Many current challenges involve understanding the complex dynamical interplay between the constituents of systems. Typically, the number of such constituents is high, but only limited data sources on them are available. Conventional…

The Embodied AI community has made significant strides in visual navigation tasks, exploring targets from 3D coordinates, objects, language descriptions, and images. However, these navigation models often handle only a single input modality…