相关论文: Learning to Look: Seeking Information for Decision…

Reinforcement learning and Imitation Learning approaches utilize policy learning strategies that are difficult to generalize well with just a few examples of a task. In this work, we propose a language-conditioned semantic search-based…

This paper proposes to use probabilistic model checking to synthesize optimal robot policies in multi-tasking autonomous systems that are subject to human-robot interaction. Given the convincing empirical evidence that human behavior can be…

The generalization of decision-making agents encompasses two fundamental elements: learning from past experiences and reasoning in novel contexts. However, the predominant emphasis in most interactive environments is on learning, often at…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…

Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

Diffusion-based policies show limited generalization in semantic manipulation, posing a key obstacle to the deployment of real-world robots. This limitation arises because relying solely on text instructions is inadequate to direct the…

Additive two-tower models are popular learning-to-rank methods for handling biased user feedback in industry settings. Recent studies, however, report a concerning phenomenon: training two-tower models on clicks collected by well-performing…

Symbolic task representation is a powerful tool for encoding human instructions and domain knowledge. Such instructions guide robots to accomplish diverse objectives and meet constraints through reinforcement learning (RL). Most existing…

The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Understanding an information forager's actions during interaction is very important for the study of interactive information retrieval. Although information spread in uncertain information space is substantially complex due to the high…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge…