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

When faced with learning challenging new tasks, humans often follow sequences of steps that allow them to incrementally build up the necessary skills for performing these new tasks. However, in machine learning, models are most often…

The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed…

Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

We present a dynamic policy-learning approach that combines generalized planning and hierarchical task decomposition for LLM-based agents. Our method, Hierarchical Component Learning for Generalized Policies (HCL-GP ), learns parameterized…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Diffusion-based policies show limited generalization in semantic manipulation, posing a key obstacle to the deployment of real-world robots. This limitation arises because relying solely on text instructions is inadequate to direct the…

The goal of continual learning (CL) is to train a model that can solve multiple tasks presented sequentially. Recent CL approaches have achieved strong performance by leveraging large pre-trained models that generalize well to downstream…

Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate…

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…

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 that the models exhibit…

How can we imbue robots with the ability to manipulate objects precisely but also to reason about them in terms of abstract concepts? Recent works in manipulation have shown that end-to-end networks can learn dexterous skills that require…

Learning to locomote to arbitrary goals on hardware remains a challenging problem for reinforcement learning. In this paper, we present a hierarchical learning framework that improves sample-efficiency and generalizability of locomotion…

We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based algorithm that constructs, for a given action, a set guaranteed to contain the resulting system configuration at a user-defined…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

In this paper, we introduce a method for unifying language, action, and state information in a shared embedding space to facilitate a range of downstream tasks in robot learning. Our method, Contrastive Language, Action, and State…

While vision-language models like CLIP have advanced zero-shot surgical phase recognition, they struggle with fine-grained surgical activities, especially action triplets. This limitation arises because current CLIP formulations rely on…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…

Foundation models like CLIP and SAM have advanced computer vision and medical imaging via low-shot transfer learning, aiding CADD with limited data. However, their deployment faces two key challenges. \textit{distribution shift} where…