相关论文: Dynamics as Prompts: In-Context Learning for Sim-t…

Autonomous mobile robots operating in remote, unstructured environments must adapt to new, unpredictable terrains that can change rapidly during operation. In such scenarios, a critical challenge becomes estimating the robot's dynamics on…

Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…

We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by hand that work well across the broad array of environments…

Large-scale foundation models for scientific machine learning adapt to physical settings unseen during training, such as zero-shot transfer between turbulent scales. This phenomenon, in-context learning, challenges conventional…

Virtual reality has proved to be useful in applications in several fields ranging from gaming, medicine, and training to development of interfaces that enable human-robot collaboration. It empowers designers to explore applications outside…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

The success of smart environments largely depends on their smartness of understanding the environments' ongoing situations. Accordingly, this task is an essence to smart environment central processors. Obtaining knowledge from the…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…

General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning (RL) has shown great potential in solving robot manipulation…

Simulation-to-Real (Sim2Real) transfer learning, the machine learning technique that efficiently solves a real-world task by leveraging knowledge from computational data, has received increasing attention in materials science as a promising…

Automated surgical gesture recognition is of great importance in robot-assisted minimally invasive surgery. However, existing methods assume that training and testing data are from the same domain, which suffers from severe performance…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…