相关论文: Towards General Purpose Robots at Scale: Lifelong …

Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…

Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

In inaccessible environments with uncertain task demands, robots often rely on general-purpose tools that lack predefined usage strategies. These tools are not tailored for particular operations, making their longevity highly sensitive to…

Recently, researchers have made significant progress combining the advances in deep learning for learning feature representations with reinforcement learning. Some notable examples include training agents to play Atari games based on raw…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

Lifelong sequence generation (LSG), a problem in continual learning, aims to continually train a model on a sequence of generation tasks to learn constantly emerging new generation patterns while avoiding the forgetting of previous…

Memory-augmented LLM agents enable interactions that extend beyond finite context windows by storing, updating, and reusing information across sessions. However, training such agents with reinforcement learning in multi-session environments…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

AI technologies, including deep learning, large-language models have gone from one breakthrough to the other. As a result, we are witnessing growing excitement in robotics at the prospect of leveraging the potential of AI to tackle some of…

Methods for teaching motion skills to robots focus on training for a single skill at a time. Robots capable of learning from demonstration can considerably benefit from the added ability to learn new movement skills without forgetting what…

The rapid evolution of machine learning has propelled neural networks to unprecedented success across diverse domains. In particular, multimodal learning has emerged as a transformative paradigm, leveraging complementary information from…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Machine learning can provide deep insights into data, allowing machines to make high-quality predictions and having been widely used in real-world applications, such as text mining, visual classification, and recommender systems. However,…

Humans can learn a variety of concepts and skills incrementally over the course of their lives while exhibiting many desirable properties, such as continual learning without forgetting, forward transfer and backward transfer of knowledge,…

The ability of artificial agents to increment their capabilities when confronted with new data is an open challenge in artificial intelligence. The main challenge faced in such cases is catastrophic forgetting, i.e., the tendency of neural…