相关论文: FlowPlan: Zero-Shot Task Planning with LLM Flow En…

Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality expert demonstrations. This limitation can be mitigated by…

This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Video motion transfer aims to generate a target video that inherits motion patterns from a source video while rendering new scenes. Existing training-free approaches focus on constructing motion guidance based on the intermediate outputs of…

Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…

This paper presents FLAF, a focal line and feature-constrained active view planning method for tracking failure avoidance in feature-based visual navigation of mobile robots. Our FLAF-based visual navigation is built upon a feature-based…

Modern ML methods excel when training data is IID, large-scale, and well labeled. Learning in less ideal conditions remains an open challenge. The sub-fields of few-shot, continual, transfer, and representation learning have made…

Imitation Learning (IL) enables robots to learn complex skills from demonstrations without explicit task modeling, but it typically requires large amounts of demonstrations, creating significant collection costs. Prior work has investigated…

Multimodal Large Language Models (MLLMs) have achieved remarkable advances by integrating text, image, and audio understanding within a unified architecture. However, existing distributed training frameworks remain fundamentally data-blind:…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

In this paper we study the problem of learning multi-step dynamics prediction models (jumpy models) from unlabeled experience and their utility for fast inference of (high-level) plans in downstream tasks. In particular we propose to learn…

Learning to flexibly follow task instructions in dynamic environments poses interesting challenges for reinforcement learning agents. We focus here on the problem of learning control flow that deviates from a strict step-by-step execution…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

Generative Flow Networks for continuous scenarios (CFlowNets) have shown promise in solving sequential decision-making tasks by learning stochastic policies using a flow and a retrieval network. Despite their demonstrated efficiency…

This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…

Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…

Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning(DRL)based approaches provide…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…