相关论文: Are Foundation Models the Route to Full-Stack Tran…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

We seek to understand how the representations of individual tokens and the structure of the learned feature space evolve between layers in deep neural networks under different learning objectives. We focus on the Transformers for our…

Much theoretical work has described the ability of transformers to represent formal languages. However, linking theoretical results to empirical performance is not straightforward due to the complex interplay between the architecture, the…

Recently, foundation language models (LMs) have marked significant achievements in the domains of natural language processing (NLP) and computer vision (CV). Unlike traditional neural network models, foundation LMs obtain a great ability…

Transfer reinforcement learning (RL) methods leverage on the experience collected on a set of source tasks to speed-up RL algorithms. A simple and effective approach is to transfer samples from source tasks and include them into the…

Deep networks, composed of multiple layers of hierarchical distributed representations, tend to learn low-level features in initial layers and transition to high-level features towards final layers. Paradigms such as transfer learning,…

Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…

Contemporary artificial intelligence systems exhibit rapidly growing abilities accompanied by the growth of required resources, expansive datasets and corresponding investments into computing infrastructure. Although earlier successes…

Foundational models have caused a paradigm shift in the way artificial intelligence (AI) systems are built. They have had a major impact in natural language processing (NLP), and several other domains, not only reducing the amount of…

Recent advances in artificial intelligence have witnessed the emergence of large-scale deep learning models capable of interpreting and generating both textual and imaging data. Such models, typically referred to as foundation models, are…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Transformers have significantly impacted domains like natural language processing, computer vision, and robotics, where they improve performance compared to other neural networks. This survey explores how transformers are used in…

Foundation models, first introduced in 2021, refer to large-scale pretrained models (e.g., large language models (LLMs) and vision-language models (VLMs)) that learn from extensive unlabeled datasets through unsupervised methods, enabling…

Large Language Models (LLMs) have delivered impressive results in language understanding, generation, reasoning, and pushes the ability boundary of multimodal models. Transformer models, as the foundation of modern LLMs, offer a strong…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…