相关论文: SLAP: Shortcut Learning for Abstract Planning

Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

This work investigates the potential of Reinforcement Learning (RL) to tackle robot motion planning challenges in the dynamic RoboCup Small Size League (SSL). Using a heuristic control approach, we evaluate RL's effectiveness in…

Imitation learning is a powerful tool for training robot manipulation policies, allowing them to learn from expert demonstrations without manual programming or trial-and-error. However, common methods of data collection, such as human…

Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…

Retrieval-augmented generation (RAG) has been extensively employed to mitigate hallucinations in large language models (LLMs). However, existing methods for multi-hop reasoning tasks often lack global planning, increasing the risk of…

Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a method for reactive TAMP to cope with runtime uncertainties…

Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accurate labeled transition systems, whereas learning-based…

Generative Recommendation (GR) has recently transitioned from atomic item-indexing to Semantic ID (SID)-based frameworks to capture intrinsic item relationships and enhance generalization. However, the adoption of high-granularity SIDs…

In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…

Intelligent and reliable task planning is a core capability for generalized robotics, requiring a descriptive domain representation that sufficiently models all object and state information for the scene. We present CLIMB, a continual…

One of the key limitations of Molecular Dynamics simulations is the computational intractability of sampling protein conformational landscapes associated with either large system size or long timescales. To overcome this bottleneck, we…

Multi-step planning has been widely employed to enhance the performance of large language models (LLMs) on downstream natural language processing (NLP) tasks, which decomposes the original task into multiple subtasks and guide LLMs to solve…

Solving complex manipulation tasks in household and factory settings remains challenging due to long-horizon reasoning, fine-grained interactions, and broad object and scene diversity. Learning skills from demonstrations can be an effective…

The usability of Reinforcement Learning is restricted by the large computation times it requires. Curriculum Reinforcement Learning speeds up learning by defining a helpful order in which an agent encounters tasks, i.e. from simple to hard.…

Multi-Task Learning (MTL) is designed to train multiple correlated tasks simultaneously, thereby enhancing the performance of individual tasks. Typically, a multi-task network structure consists of a shared backbone and task-specific…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Language Model (LM) agents have demonstrated remarkable capabilities in solving tasks that require multiple interactions with the environment. However, they remain vulnerable in environments where a single error often leads to irrecoverable…

Reinforcement Learning (RL) and Imitation Learning (IL) have made great progress in robotic decision-making in recent years. However, these methods show obvious deterioration for new tasks that need to be completed through new combinations…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…