相关论文: Resolving State Ambiguity in Robot Manipulation vi…

Real-world applications of reinforcement learning for recommendation and experimentation faces a practical challenge: the relative reward of different bandit arms can evolve over the lifetime of the learning agent. To deal with these…

Robotic assistance in scientific laboratories requires procedurally correct long-horizon manipulation, reliable execution under limited supervision, and robustness in low-demonstration regimes. Such conditions greatly challenge end-to-end…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

With the proliferation of mobile devices, the need for an efficient model to restore any degraded image has become increasingly significant and impactful. Traditional approaches typically involve training dedicated models for each specific…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

Effectively retrieving, reasoning, and understanding multimodal information remains a critical challenge for agentic systems. Traditional Retrieval-augmented Generation (RAG) methods rely on linear interaction histories, which struggle to…

Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…

Learned language-conditioned robot policies often struggle to effectively adapt to new real-world tasks even when pre-trained across a diverse set of instructions. We propose a novel approach for few-shot adaptation to unseen tasks that…

We aim to help users estimate the state of the world in tasks like robotic teleoperation and navigation with visual impairments, where users may have systematic biases that lead to suboptimal behavior: they might struggle to process…

Volumetric segmentation is important in medical imaging, but current methods face challenges like requiring lots of manual annotations and being tailored to specific tasks, which limits their versatility. General segmentation models used…

Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if there are several mugs and branches to…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…

Segmentation is a fundamental problem in surgical scene analysis using artificial intelligence. However, the inherent data scarcity in this domain makes it challenging to adapt traditional segmentation techniques for this task. To tackle…

Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However, the collection of high-quality training data, the impact of…

Understanding the inter-relations and interactions between tasks is crucial for multi-task dense prediction. Existing methods predominantly utilize convolutional layers and attention mechanisms to explore task-level interactions. In this…

Human actions manipulating articulated objects, such as opening and closing a drawer, can be categorized into multiple modalities we define as interaction modes. Traditional robot learning approaches lack discrete representations of these…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…

Passive acoustic mapping (PAM) is a key imaging technique for characterizing cavitation activity in therapeutic ultrasound applications. Recent model-based beamforming algorithms offer high reconstruction quality and strong physical…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…