相关论文: Learning Robot Manipulation from Audio World Model…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters states outside the training distribution, limiting…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

While the use of social robots for language teaching has been explored, there remains limited work on a task-specific synthesized voices for language teaching robots. Given that language is a verbal task, this gap may have severe…

In model-based reinforcement learning, the agent interleaves between model learning and planning. These two components are inextricably intertwined. If the model is not able to provide sensible long-term prediction, the executed planner…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Heralded by the initial success in speech recognition and image classification, learning-based approaches with neural networks, commonly referred to as deep learning, have spread across various fields. A primitive form of a neural network…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

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…

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…

Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…