相关论文: Leveraging Foundation Models for Enhancing Robot P…
In humans and robots alike, transfer learning occurs at different levels of abstraction, from high-level linguistic transfer to low-level transfer of motor skills. In this article, we provide an overview of the impact that foundation models…
Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a…
Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…
The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's)…
Foundation models are increasingly deployed in socially sensitive domains such as education, mental health, and caregiving, where failures are often cumulative and context-dependent. Existing guardrail approaches -- ranging from…
Foundation models (FMs) such as large language models have revolutionized the field of AI by showing remarkable performance in various tasks. However, they exhibit numerous limitations that prevent their broader adoption in many real-world…
A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…
Long-range interactions are essential determinants of chemical system behaviour across diverse environments. We present a foundation framework that integrates explicit polarizable long-range physics with an equivariant graph neural network…
Foundation models have recently expanded into robotics after excelling in computer vision and natural language processing. The models are accessible in two ways: open-source or paid, closed-source options. Users with access to both face a…
Artificial intelligence and machine learning have shown great promise in their ability to accelerate novel materials discovery. As researchers and domain scientists seek to unify and consolidate chemical knowledge, the case for models with…
Foundation models, such as large language models (LLMs), have been widely recognised as transformative AI technologies due to their capabilities to understand and generate content, including plans with reasoning capabilities. Foundation…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…
We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Foundation models, particularly large language models, are increasingly integrated into agent architectures for industrial tasks such as decision support, process monitoring, and engineering automation. Yet evidence on their purposes,…
Safety is a critical requirement for the real-world deployment of robotic systems. Unfortunately, while current robot foundation models show promising generalization capabilities across a wide variety of tasks, they fail to address safety,…
We apply foundation models to data discovery and exploration tasks. Foundation models include large language models (LLMs) that show promising performance on a range of diverse tasks unrelated to their training. We show that these models…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…