相关论文: Fail2Progress: Learning from Real-World Robot Fail…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large…

Complex systems in science and engineering sometimes exhibit behavior that changes across different regimes. Traditional global models struggle to capture the full range of this complex behavior, limiting their ability to accurately…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

Fine-Grained Change Detection and Regression Analysis are essential in many applications of ArtificialIntelligence. In practice, this task is often challenging owing to the lack of reliable ground truth information andcomplexity arising…

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…

When faced with an execution failure, an intelligent robot should be able to identify the likely reasons for the failure and adapt its execution policy accordingly. This paper addresses the question of how to utilise knowledge about the…

Text-to-image diffusion models can generate stunning visuals, yet they often fail at tasks children find trivial--like placing a dog to the right of a teddy bear rather than to the left. When combinations get more unusual--a giraffe above…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

From the nano-scale to the macro-scale, biological tissue is spatially heterogeneous. Even when tissue behavior is well understood, the exact subject specific spatial distribution of material properties is often unknown. And, when…

In many real-world scenarios, data to train machine learning models becomes available over time. Unfortunately, these models struggle to continually learn new concepts without forgetting what has been learnt in the past. This phenomenon is…

Robots operating in real-world human environments will likely encounter task execution failures. To address this, we would like to allow co-present humans to refine the robot's task model as errors are encountered. Existing approaches to…

Existing variance reduction techniques used in stochastic simulations for rare event analysis still require a substantial number of model evaluations to estimate small failure probabilities. In the context of complex, nonlinear finite…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…

Generating context-adaptive manipulation and grasping actions is a challenging problem in robotics. Classical planning and control algorithms tend to be inflexible with regard to parameterization by external variables such as object shapes.…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…