相关论文: MetaWorld: Skill Transfer and Composition in a Hie…

Learning natural, stable, and compositionally generalizable whole-body control policies for humanoid robots performing simultaneous locomotion and manipulation (loco-manipulation) remains a fundamental challenge in robotics. Existing…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents…

Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…

Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…

Meta-Reinforcement Learning (Meta-RL) enables fast adaptation to new testing tasks. Despite recent advancements, it is still challenging to learn performant policies across multiple complex and high-dimensional tasks. To address this, we…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Robotic world models are a promising paradigm for forecasting future environment states, yet their inference speed and the physical plausibility of generated trajectories remain critical bottlenecks, limiting their real-world applications.…

Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across…

The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Meta-World is widely used for evaluating multi-task and meta-reinforcement learning agents, which are challenged to master diverse skills simultaneously. Since its introduction however, there have been numerous undocumented changes which…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Large language model (LLM) agents are increasingly used for complex tasks, yet deployed agents often remain static, failing to adapt as user needs evolve. This creates a tension between the need for continuous service and the necessity of…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual generative quality while overlooking physical fidelity,…