相关论文: Failure Prediction at Runtime for Generative Robot…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…

We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…

Existing methods for predicting robotic snap joint assembly cannot predict failures before their occurrence. To address this limitation, this paper proposes a method for predicting error states before the occurence of error, thereby…

Industrial robots are increasingly deployed in contact-rich construction and manufacturing tasks that involve uncertainty and long-horizon execution. While learning-based visuomotor policies offer a promising alternative to open-loop…

Imitation learning trains a policy from expert demonstrations. Imitation learning approaches have been designed from various principles, such as behavioral cloning via supervised learning, apprenticeship learning via inverse reinforcement…

Due to the unprecedented success of deep learning, it has become an integral component in several multimedia computing applications in todays world. Unfortunately, deep learning systems are not perfect and can fail, sometimes abruptly,…

Prediction of breakdown in disordered solids under external loading in a question of paramount importance. Here we use a fiber bundle model for disordered solids and record the time series of the avalanche sizes and energy bursts. The time…

Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and…

Flow matching has emerged as a competitive framework for learning high-quality generative policies in robotics; however, we find that generalisation arises and saturates early along the flow trajectory, in accordance with recent findings in…

Implicit generative models have the capability to learn arbitrary complex data distributions. On the downside, training requires telling apart real data from artificially-generated ones using adversarial discriminators, leading to unstable…

Generative models, like flows and diffusions, have recently emerged as popular and efficacious policy parameterizations in robotics. There has been much speculation as to the factors underlying their successes, ranging from capturing…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

This article introduces methods for constructing prediction bounds or intervals for the number of future failures from heterogeneous reliability field data. We focus on within-sample prediction where early data from a failure-time process…

Reinforcement learning has achieved remarkable success in robot learning. However, under challenging exploration and contact-rich dynamics, early-stage training is frequently dominated by premature terminations such as collisions and falls.…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…

An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…

Robots operating in unstructured human environments inevitably encounter failures, especially in robot caregiving scenarios. While humans can often help robots recover, excessive or poorly targeted queries impose unnecessary cognitive and…

A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the worst-case disturbance (which results in conservative…