相关论文: DynaMIC: Dynamic Multimodal In-Context Learning En…

We propose an architecture for training generative models of counterfactual conditionals of the form, 'can we modify event A to cause B instead of C?', motivated by applications in robot control. Using an 'adversarial training' paradigm, an…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

With the rapid advancement of multimodal large language models (MLLMs), models have demonstrated increasingly powerful multimodal capabilities. However, whether MLLMs trained through statistical learning can truly understand the causal…

Counterfactual explanations play a pivotal role in explainable artificial intelligence (XAI) by offering intuitive, human-understandable alternatives that elucidate machine learning model decisions. Despite their significance, existing…

Although many machine learning methods, especially from the field of deep learning, have been instrumental in addressing challenges within robotic applications, we cannot take full advantage of such methods before these can provide…

The vast number of parameters in large language models (LLMs) endows them with remarkable capabilities, allowing them to excel in a variety of natural language processing tasks. However, this complexity also presents challenges, making LLMs…

Recent manufacturing systems are increasingly adopting multi-robot collaboration to handle complex and dynamic environments. While multi-agent architectures support decentralized coordination among robot agents, they often face challenges…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Temporal sequential tasks challenge humanoid robots, as existing Diffusion Policy (DP) and Action Chunking with Transformers (ACT) methods often lack temporal context, resulting in local optima traps and excessive repetitive actions. To…

Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange…

This paper presents a novel method for generating realistic counterfactual explanations (CFEs) in machine learning (ML)-based control for mobile robots using 2D LiDAR. ML models, especially artificial neural networks (ANNs), can provide…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

The ability to learn and refine behavior after deployment has become ever more important for robots as we design them to operate in unstructured environments like households. In this work, we design a new learning system based on large…

This paper presents a framework towards prompting multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities demonstrated by recent language models in understanding and…

Generalist robots should be able to understand and follow user instructions, but current vision-language-action (VLA) models struggle with following fine-grained commands despite providing a powerful architecture for mapping open-vocabulary…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Explainability, in particular, the ability for robots to explain why they have made a decision or behaved in a certain way, is a critical tool in helping users understand the robots they interact and coexist with. Behaviour trees are a…

For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…