相关论文: Learning From a Steady Hand: A Weakly Supervised A…

We stress test monitoring systems for detecting covert misbehavior in autonomous LLM agents (e.g., secretly sharing private information). To this end, we systematize a monitor red teaming (MRT) workflow that incorporates: (1) varying levels…

Minimally invasive surgery can benefit significantly from automated surgical tool detection, enabling advanced analysis and assistance. However, the limited availability of annotated data in surgical settings poses a challenge for training…

Small Vision-Language Models (SVLMs) are efficient task controllers but often suffer from visual brittleness and poor tool orchestration. They typically require expensive supervised trajectory tuning to mitigate these deficits. In this…

Current service robots suffer from limited natural language communication abilities, heavy reliance on predefined commands, ongoing human intervention, and, most notably, a lack of proactive collaboration awareness in human-populated…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Adapting LLM agents to domain-specific tool calling remains notably brittle under evolving interfaces. Prompt and schema engineering is easy to deploy but often fragile under distribution shift and strict parsers, while continual…

Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observation streams that are not needed by a master might yet aid a…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…

Pseudo-supervised learning methods have been shown to be effective for weakly supervised object localization tasks. However, the effectiveness depends on the powerful regularization ability of deep neural networks. Based on the assumption…

Surgical tool detection in minimally invasive surgery is an essential part of computer-assisted interventions. Current approaches are mostly based on supervised methods which require large fully labeled data to train supervised models and…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based…

Anomaly detection (AD) plays a pivotal role in numerous web-based applications, including malware detection, anti-money laundering, device failure detection, and network fault analysis. Most methods, which rely on unsupervised learning, are…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

One of the inherent limitations of current AI systems, stemming from the passive learning mechanisms (e.g., supervised learning), is that they perform well on labeled datasets but cannot deduce knowledge on their own. To tackle this…