相关论文: Seeing the Bigger Picture: 3D Latent Mapping for M…

In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered…

In this paper, we provide an in-depth study of Stochastic Backpropagation (SBP) when training deep neural networks for standard image classification and object detection tasks. During backward propagation, SBP calculates the gradients by…

How do large language models solve spatial navigation tasks? We investigate this by training GPT-2 models on three spatial learning paradigms in grid environments: passive exploration (Foraging Model- predicting steps in random walks),…

This work presents a modular architecture for simultaneous mapping and target driven navigation in indoors environments. The semantic and appearance stored in 2.5D map is distilled from RGB images, semantic segmentation and outputs of…

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…

Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…

Large language models (LLMs) demonstrate remarkable performance on many NLP tasks, yet often exhibit order dependence: simply reordering semantically identical tokens (e.g., answer choices in multiple-choice questions) can lead to…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…

Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Policy-gradient methods have received increased attention recently as a mechanism for learning to act in partially observable environments. They have shown promise for problems admitting memoryless policies but have been less successful…

In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space enables the desirable distribution of limited computational…

The rapid growth of image data has led to the development of advanced image processing and computer vision techniques, which are crucial in various applications such as image classification, image segmentation, and pattern recognition.…

We introduce \textbf{LaMP}, a dual-expert Vision-Language-Action framework that embeds dense 3D scene flow as a latent motion prior for robotic manipulation. Existing VLA models regress actions directly from 2D semantic visual features,…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Inspired by the success of recent vision transformers and large kernel design in convolutional neural networks (CNNs), in this paper, we analyze and explore essential reasons for their success. We claim two factors that are critical for 3D…

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (\textit{e.g.} pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning…

This study explores integrating large language models (LLMs) with situational awareness-based planning (SAP) to enhance the decision-making capabilities of AI agents in dynamic and uncertain environments. We employ a multi-agent reasoning…

We present the Latent Adaptive Planner (LAP), a trajectory-level latent-variable policy for dynamic nonprehensile manipulation (e.g., box catching) that formulates planning as inference in a low-dimensional latent space and is learned…