相关论文: Learning Lifted STRIPS Models from Action Traces A…

We present a new active model-learning approach to generating abstractions of a system implementation, as finite state automata (FSAs), from execution traces. Given an implementation and a set of observable system variables, the generated…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Foundation models, i.e. large neural networks pre-trained on large text corpora, have revolutionized NLP. They can be instructed directly (e.g. (arXiv:2005.14165)) - this is called hard prompting - and they can be tuned using very little…

Modern machine learning systems have demonstrated substantial abilities with methods that either embrace or ignore human-provided knowledge, but combining benefits of both styles remains a challenge. One particular challenge involves…

We study how an autonomous agent learns to perform a task from demonstrations in a different domain, such as a different environment or different agent. Such cross-domain imitation learning is required to, for example, train an artificial…

It is imperative for Large language models (LLMs) to follow instructions with elaborate requirements (i.e. Complex Instructions Following). Yet, it remains under-explored how to enhance the ability of LLMs to follow complex instructions…

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory…

Transfer learning research attempts to make model induction transferable across different domains. This method assumes that specific information regarding to which domain each instance belongs is known. This paper helps to extend the…

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…

A survey of existing methods for stopping active learning (AL) reveals the needs for methods that are: more widely applicable; more aggressive in saving annotations; and more stable across changing datasets. A new method for stopping AL…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84\%$ grasp success on $172$ real world objects while being trained only in simulation on…

Recent advances in natural language processing highlight two key factors for improving reasoning in large language models (LLMs): (i) allocating more test-time compute tends to help on harder problems but often introduces redundancy in the…

Long-horizon robotic tasks are hard due to continuous state-action spaces and sparse feedback. Symbolic world models help by decomposing tasks into discrete predicates that capture object properties and relations. Existing methods learn…

Knowledge tracing refers to a family of methods that estimate each student's knowledge component/skill mastery level from their past responses to questions. One key limitation of most existing knowledge tracing methods is that they can only…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

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…

A common way of learning to perform a task is to observe how it is carried out by experts. However, it is well known that for most tasks there is no unique way to perform them. This is especially noticeable the more complex the task is…

Any prediction from a model is made by a combination of learning history and test stimuli. This provides significant insights for improving model interpretability: {\it because of which part(s) of which training example(s), the model…