相关论文: Generalizable Coarse-to-Fine Robot Manipulation vi…

Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. But in order for robots to match an individual person's needs,…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

Several advances have been made recently towards handling overlapping speech for speaker diarization. Since speech and natural language tasks often benefit from ensemble techniques, we propose an algorithm for combining outputs from such…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is the lack of robotic data,…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Imitation learning for robotic manipulation often suffers from limited generalization and data scarcity, especially in complex, long-horizon tasks. In this work, we introduce a hierarchical framework that leverages code-generating…

Reward-based finetuning is crucial for aligning language policies with intended behaviors (e.g., creativity and safety). A key challenge is to develop steerable language models that trade-off multiple (conflicting) objectives in a flexible…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

Despite recent advances in improving the sample-efficiency of reinforcement learning (RL) algorithms, designing an RL algorithm that can be practically deployed in real-world environments remains a challenge. In this paper, we present…

Recent advances in autonomous robotic technologies have highlighted the growing need for precise environmental analysis. LiDAR semantic segmentation has gained attention to accomplish fine-grained scene understanding by acting directly on…

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…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

The increasing demand for versatile robotic systems to operate in diverse and dynamic environments has emphasized the importance of a generalist policy, which leverages a large cross-embodiment data corpus to facilitate broad adaptability…

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…