相关论文: Learning State Conditioned Linear Mappings for Low…

It has recently been shown that the minimum energy solution of the control problem for a linear system produces a control trajectory that is nonlocal. An issue then arises when the dynamics represents a linearization of the underlying…

Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address…

Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Robotic manipulation requires accurate motion and physical interaction control. However, current robot learning approaches focus on motion-centric action spaces that do not explicitly give the policy control over the interaction. In this…

Projecting high-dimensional environment observations into lower-dimensional structured representations can considerably improve data-efficiency for reinforcement learning in domains with limited data such as robotics. Can a single generally…

For safely applying reinforcement learning algorithms on high-dimensional nonlinear dynamical systems, a simplified system model is used to formulate a safe reinforcement learning framework. Based on the simplified system model, a…

Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…

Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.e., the state) are relevant to the task. But there are also…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Causal learning allows humans to predict the effect of their actions on the known environment and use this knowledge to plan the execution of more complex actions. Such knowledge also captures the behaviour of the environment and can be…

Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

The accurate modeling and control of nonlinear dynamical effects are crucial for numerous robotic systems. The Koopman formalism emerges as a valuable tool for linear control design in nonlinear systems within unknown environments. However,…

In this paper we present a computational modeling account of an active self in artificial agents. In particular we focus on how an agent can be equipped with a sense of control and how it arises in autonomous situated action and, in turn,…

Masked Autoencoders (MAEs) have emerged as a powerful pretraining technique for vision foundation models. Despite their effectiveness, they require extensive hyperparameter tuning (masking ratio, patch size, encoder/decoder layers) when…

Advances in reinforcement learning have led to its successful application in complex tasks with continuous state and action spaces. Despite these advances in practice, most theoretical work pertains to finite state and action spaces. We…