相关论文: Incremental Learning of Affordances using Markov L…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

We use machine learning to classify examples of braids (or flat braids) as trivial or non-trivial. Our ML takes form of supervised learning using neural networks (multilayer perceptrons). When they achieve good results in classification, we…

In-context learning (ICL), the remarkable ability to solve a task from only input exemplars, is often assumed to be a unique hallmark of Transformer models. By examining commonly employed synthetic ICL tasks, we demonstrate that multi-layer…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…

In-Context Learning (ICL) empowers Large Language Models (LLMs) with the ability to learn from a few examples provided in the prompt, enabling downstream generalization without the requirement for gradient updates. Despite encouragingly…

We formalize a new concept for LLMs, context-enhanced learning. It involves standard gradient-based learning on text except that the context is enhanced with additional data on which no auto-regressive gradients are computed. This setting…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

Visual affordances identify regions in an image with potential interactions, offering a novel paradigm for scene understanding. Recognizing affordances allows autonomous robots to act more naturally, could enhance human-robot interactions,…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

In autonomous driving, environment perception has significantly advanced with the utilization of deep learning techniques for diverse sensors such as cameras, depth sensors, or infrared sensors. The diversity in the sensor stack increases…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…

Maximum likelihood (ML) and adversarial learning are two popular approaches for training generative models, and from many perspectives these techniques are complementary. ML learning encourages the capture of all data modes, and it is…

Neural networks, particularly message-passing neural networks (MPNNs), are increasingly used as heuristics for hard combinatorial optimization problems. Yet many learning-based methods rely on supervision, reinforcement learning, or…

Large language models (LLMs) can adapt to new tasks via in-context learning (ICL) without parameter updates, making them powerful learning engines for fast adaptation. While extensive research has examined ICL as a few-shot learner, whether…

Affordances describe the possibilities for an agent to perform actions with an object. While the significance of the affordance concept has been previously studied from varied perspectives, such as psychology and cognitive science, these…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…