相关论文: Adaptformer: Sequence models as adaptive iterative…

Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…

Few-shot learning aims to adapt knowledge learned from previous tasks to novel tasks with only a limited amount of labeled data. Research literature on few-shot learning exhibits great diversity, while different algorithms often excel at…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Extending the forecasting time is a critical demand for real applications, such as extreme weather early warning and long-term energy consumption planning. This paper studies the long-term forecasting problem of time series. Prior…

Astounding results from Transformer models on natural language tasks have intrigued the vision community to study their application to computer vision problems. Among their salient benefits, Transformers enable modeling long dependencies…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

Recent works have shown that sequence modeling can be effectively used to train reinforcement learning (RL) policies. However, the success of applying existing sequence models to planning, in which we wish to obtain a trajectory of actions…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

Multivariate time series forecasting focuses on predicting future values based on historical context. State-of-the-art sequence-to-sequence models rely on neural attention between timesteps, which allows for temporal learning but fails to…

A framework is introduced for actively and adaptively solving a sequence of machine learning problems, which are changing in bounded manner from one time step to the next. An algorithm is developed that actively queries the labels of the…

Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Temporal action localization aims to predict the boundary and category of each action instance in untrimmed long videos. Most of previous methods based on anchors or proposals neglect the global-local context interaction in entire video…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

Machine learning systems are often used in settings where individuals adapt their features to obtain a desired outcome. In such settings, strategic behavior leads to a sharp loss in model performance in deployment. In this work, we aim to…

We present Skill Transformer, an approach for solving long-horizon robotic tasks by combining conditional sequence modeling and skill modularity. Conditioned on egocentric and proprioceptive observations of a robot, Skill Transformer is…

Reinforcement learning and planning methods require an objective or reward function that encodes the desired behavior. Yet, in practice, there is a wide range of scenarios where an objective is difficult to provide programmatically, such as…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…