相关论文: Reference Grounded Skill Discovery

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…

Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…

Generative skill acquisition enables embodied agents to actively learn a scalable and evolving repertoire of control skills, crucial for the advancement of large decision models. While prior approaches often rely on supervision signals from…

Creating reinforcement learning (RL) agents that are capable of accepting and leveraging task-specific knowledge from humans has been long identified as a possible strategy for developing scalable approaches for solving long-horizon…

Objective: Surgical activity recognition is a fundamental step in computer-assisted interventions. This paper reviews the state-of-the-art in methods for automatic recognition of fine-grained gestures in robotic surgery focusing on recent…

While language models have shown remarkable performance across diverse tasks, they still encounter challenges in complex reasoning scenarios. Recent research suggests that language models trained on linearized search traces toward…

We consider the problem of unsupervised skill segmentation and hierarchical structure discovery in reinforcement learning. While recent approaches have sought to segment trajectories into reusable skills or options, most rely on action…

The success of many RL techniques heavily relies on human-engineered dense rewards, which typically demand substantial domain expertise and extensive trial and error. In our work, we propose DrS (Dense reward learning from Stages), a novel…

Effective decision making involves flexibly relating past experiences and relevant contextual information to a novel situation. In deep reinforcement learning (RL), the dominant paradigm is for an agent to amortise information that helps…

Understanding relationships between objects is central to visual intelligence, with applications in embodied AI, assistive systems, and scene understanding. Yet, most visual relationship detection (VRD) models rely on a fixed predicate set,…

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…

We are increasingly surrounded by artificially intelligent technology that takes decisions and executes actions on our behalf. This creates a pressing need for general means to communicate with, instruct and guide artificial agents, with…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

Self-supervised representation learning techniques utilize large datasets without semantic annotations to learn meaningful, universal features that can be conveniently transferred to solve a wide variety of downstream supervised tasks. In…

Large vision language models (VLMs) increasingly claim reasoning skills, yet current benchmarks evaluate them in single-turn or question answering settings. However, grounding is an interactive process in which people gradually develop…

In a practical dialogue system, users may input out-of-domain (OOD) queries. The Generalized Intent Discovery (GID) task aims to discover OOD intents from OOD queries and extend them to the in-domain (IND) classifier. However, GID only…

3D Referring Expression Segmentation (3D-RES) aims to segment 3D objects by correlating referring expressions with point clouds. However, traditional approaches frequently encounter issues like over-segmentation or mis-segmentation, due to…