相关论文: Curiosity-Driven Imagination: Discovering Plan Ope…

Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by…

We consider the informative path planning ($\mathtt{IPP}$) problem in which a robot interacts with an uncertain environment and gathers information by visiting locations. The goal is to minimize its expected travel cost to cover a given…

Recent research in robot exploration and mapping has focused on sampling environmental hotspot fields. This exploration task is formalized by Low, Dolan, and Khosla (2008) in a sequential decision-theoretic planning under uncertainty…

The autonomous learning of new goals in robotics remains a complex issue to address. Here, we propose a model where curiosity influence learning flexibility. To do so, this paper proposes to root curiosity and attention together by taking…

Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…

In modern industry, dynamic environments and the complexity of modular and reconfigurable resources require automated planning of process sequences. Capability-based planning approaches address this by automatically generating plans from…

This paper presents a hybrid robot cognitive architecture, CRAM, that enables robot agents to accomplish everyday manipulation tasks. It addresses five key challenges that arise when carrying out everyday activities. These include (i) the…

Planning-based reinforcement learning has shown strong performance in tasks in discrete and low-dimensional continuous action spaces. However, planning usually brings significant computational overhead for decision-making, and scaling such…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…

In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that…

The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans…

Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environment-specific policy training or depend on fixed prompts and…

Autonomous robots operating in dynamic environments must balance global path optimality with real-time responsiveness to disturbances. This requires addressing a fundamental trade-off between computationally expensive global planning and…

Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…

We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intractable owing to the infamous curse of dimensionality. We…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Two key challenges within Reinforcement Learning involve improving (a) agent learning within environments with sparse extrinsic rewards and (b) the explainability of agent actions. We describe a curious subgoal focused agent to address both…