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

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

Generalization capability to unseen domains is crucial for machine learning models when deploying to real-world conditions. We investigate the challenging problem of domain generalization, i.e., training a model on multi-domain source data…

Deep reinforcement-learning methods have achieved remarkable performance on challenging control tasks. Observations of the resulting behavior give the impression that the agent has constructed a generalized representation that supports…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

Regularization is one of the crucial ingredients of deep learning, yet the term regularization has various definitions, and regularization methods are often studied separately from each other. In our work we present a systematic, unifying…

Identifying and categorizing specific robot tasks, behaviors, and resources is an essential precursor to reproducing and evaluating robotics experiments across laboratories and platforms. Without some means of capturing how one environment,…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose \textbf{Maniwhere}, a generalizable framework tailored for visual reinforcement learning, enabling the…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Automated generalisation has known important improvements these last few years. However, an issue that still deserves more study concerns the automatic evaluation of generalised data. Indeed, many automated generalisation systems require…

Transformer-based models excel in various tasks but their generalization capabilities, especially in arithmetic reasoning, remain incompletely understood. Arithmetic tasks provide a controlled framework to explore these capabilities, yet…

Understanding the generalization behaviour of deep neural networks is a topic of recent interest that has driven the production of many studies, notably the development and evaluation of generalization "explainability" measures that…

In order for autonomous mobile robots to navigate in human spaces, they must abide by our social norms. Reinforcement learning (RL) has emerged as an effective method to train sequential decision-making policies that are able to respect…

Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this in locomotion, a systematic study in the context of…

It is imperative that robots can understand natural language commands issued by humans. Such commands typically contain verbs that signify what action should be performed on a given object and that are applicable to many objects. We propose…

Evaluating the generalisation capabilities of multimodal models based solely on their performance on out-of-distribution data fails to capture their true robustness. This work introduces a comprehensive evaluation framework that…

This survey provides a comprehensive review on recent advancements of generative learning models in robotic manipulation, addressing key challenges in the field. Robotic manipulation faces critical bottlenecks, including significant…

Machine learning (ML) formalizes the problem of getting computers to learn from experience as optimization of performance according to some metric(s) on a set of data examples. This is in contrast to requiring behaviour specified in advance…

A model's capacity to generalize its knowledge to interpret unseen inputs with different characteristics is crucial to build robust and reliable machine learning systems. Language model evaluation tasks lack information metrics about model…

The quasi-repetitive nature of construction work and the resulting lack of generalizability in programming construction robots presents persistent challenges to the broad adoption of robots in the construction industry. Robots cannot…