相关论文: Few-Shot Demonstration-Driven Task Coordination an…

This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…

Achieving human-like dexterous manipulation through the collaboration of multi-fingered hands with robotic arms remains a longstanding challenge in robotics, primarily due to the scarcity of high-quality demonstrations and the complexity of…

Graph few-shot learning is of great importance among various graph learning tasks. Under the few-shot scenario, models are often required to conduct classification given limited labeled samples. Existing graph few-shot learning methods…

Deep learning has achieved great success in video recognition, yet still struggles to recognize novel actions when faced with only a few examples. To tackle this challenge, few-shot action recognition methods have been proposed to transfer…

Few-shot learning aims to learn representations that can tackle novel tasks given a small number of examples. Recent studies show that cross-modal learning can improve representations for few-shot classification. More specifically, language…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…

Robotic systems operating in real-world environments often suffer from concept shift, where the input-output relationship changes due to latent environmental factors that are not directly observable. Conventional adaptation methods update…

Traditional temporal action localization (TAL) methods rely on large amounts of detailed annotated data, whereas few-shot TAL reduces this dependence by using only a few training samples to identify unseen action categories. However,…

Few-shot learning is often motivated by the ability of humans to learn new tasks from few examples. However, standard few-shot classification benchmarks assume that the representation is learned on a limited amount of base class data,…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

Few-shot learning allows machines to classify novel classes using only a few labeled samples. Recently, few-shot segmentation aiming at semantic segmentation on low sample data has also seen great interest. In this paper, we propose a…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

Autonomous robotic systems should reason about resource control and its impact on subsequent maneuvers, especially when operating with limited energy budgets or restricted sensing. Learning-based control is effective in handling complex…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Few-shot graph classification aims at predicting classes for graphs, given limited labeled graphs for each class. To tackle the bottleneck of label scarcity, recent works propose to incorporate few-shot learning frameworks for fast…