相关论文: Arcadia: Toward a Full-Lifecycle Framework for Emb…

Advances in machine learning methods for computer vision tasks have led to their consideration for safety-critical applications like autonomous driving. However, effectively integrating these methods into the automotive development…

Complex natural or engineered systems comprise multiple characteristic scales, multiple spatiotemporal domains, and even multiple physical closure laws. To address such challenges, we introduce an interface learning paradigm and put forth a…

The development of embodied AI systems is increasingly constrained by the availability and structure of physical interaction data. Despite recent advances in vision-language-action (VLA) models, current pipelines suffer from high data…

Scalable Embodied AI faces fundamental constraints due to prohibitive costs and safety risks of real-world interaction. While Embodied World Models (EWMs) offer promise through imagined rollouts, existing approaches suffer from geometric…

Scientific discovery increasingly entails long-horizon exploration of complex hypothesis spaces, yet most existing approaches emphasize final performance while offering limited insight into how scientific exploration unfolds over time,…

Imitation learning has shown promise in learning from large-scale real-world datasets. However, pretrained policies usually perform poorly without sufficient in-domain data. Besides, human-collected demonstrations entail substantial labour…

Embodied Artificial Intelligence (AI) is an intelligent system paradigm for achieving Artificial General Intelligence (AGI), serving as the cornerstone for various applications and driving the evolution from cyberspace to physical systems.…

Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments. Since embodied environments vary across layouts, object states, and other execution factors, these skills…

Humans, even at a very early age, can learn visual concepts and understand geometry and layout through active interaction with the environment, and generalize their compositions to complete tasks described by natural languages in novel…

Continual Learning (CL) allows applications such as user personalization and household robots to learn on the fly and adapt to context. This is an important feature when context, actions, and users change. However, enabling CL on…

Embodied foundation models require large-scale, high-quality real-world interaction data for pre-training and scaling. However, existing data collection methods suffer from high infrastructure costs, complex hardware dependencies, and…

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has…

Progress in embodied intelligence increasingly depends on scalable data infrastructure. While vision and language have scaled with internet corpora, learning physical interaction remains constrained by the lack of large, diverse, and richly…

Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily accelerated, cheaply reset, or massively replicated, which…

In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

This paper proposes CIRCLE, a six-stage, lifecycle-based framework to bridge the reality gap between model-centric performance metrics and AI's materialized outcomes in deployment. Current approaches such as MLOps frameworks and AI model…

We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i)…

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant…

Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about…