相关论文: A Taxonomy for Evaluating Generalist Robot Manipul…

As AI systems become more intelligent and their behavior becomes more challenging to assess, they may learn to game the flaws of human feedback instead of genuinely striving to follow instructions; however, this risk can be mitigated by…

Machine learning (ML) models often struggle to maintain performance under distribution shifts, leading to inaccurate predictions on unseen future data. In this work, we investigate whether and under what conditions models can achieve such a…

Categorization axioms have been proposed to axiomatizing clustering results, which offers a hint of bridging the difference between human recognition system and machine learning through an intuitive observation: an object should be assigned…

We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…

The "gender" of intelligent agents, virtual characters, social robots, and other agentic machines has emerged as a fundamental topic in studies of people's interactions with computers. Perceptions of agent gender can help explain user…

Diffusion-based policies show limited generalization in semantic manipulation, posing a key obstacle to the deployment of real-world robots. This limitation arises because relying solely on text instructions is inadequate to direct the…

Deep reinforcement learning (RL) has achieved breakthrough results on many tasks, but agents often fail to generalize beyond the environment they were trained in. As a result, deep RL algorithms that promote generalization are receiving…

The ability to generalize to unseen domains is crucial for machine learning systems deployed in the real world, especially when we only have data from limited training domains. In this paper, we propose a simple and effective regularization…

Understanding generalization is crucial to confidently engineer and deploy machine learning models, especially when deployment implies a shift in the data domain. For such domain adaptation problems, we seek generalization bounds which are…

Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

One of the principal scientific challenges in deep learning is explaining generalization, i.e., why the particular way the community now trains networks to achieve small training error also leads to small error on held-out data from the…

We study goal-conditioned RL through the lens of generalization, but not in the traditional sense of random augmentations and domain randomization. Rather, we aim to learn goal-directed policies that generalize with respect to the horizon:…

Generalization error bounds are critical to understanding the performance of machine learning models. In this work, building upon a new bound of the expected value of an arbitrary function of the population and empirical risk of a learning…

In recent years, a variety of normalization methods have been proposed to help train neural networks, such as batch normalization (BN), layer normalization (LN), weight normalization (WN), group normalization (GN), etc. However,…

Manipulation is a common concern in many domains, such as social media, advertising, and chatbots. As AI systems mediate more of our interactions with the world, it is important to understand the degree to which AI systems might manipulate…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predictive representation weakly coupled with action execution,…