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

We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…

The application of deep learning in robotics leads to very specific problems and research questions that are typically not addressed by the computer vision and machine learning communities. In this paper we discuss a number of…

In classification, it is usual to observe that models trained on a given set of classes can generalize to previously unseen ones, suggesting the ability to learn beyond the initial task. This ability is often leveraged in the context of…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

Humanoid robots are drawing significant attention as versatile platforms for complex motor control, human-robot interaction, and general-purpose physical intelligence. However, achieving efficient whole-body control (WBC) in humanoids…

A crucial challenge in reinforcement learning is to reduce the number of interactions with the environment that an agent requires to master a given task. Transfer learning proposes to address this issue by re-using knowledge from previously…

This thesis explores how deep learning models learn over time, using ideas inspired by force analysis. Specifically, we zoom in on the model's training procedure to see how one training example affects another during learning, like…

Many modern learning tasks require models that can take inputs of varying sizes. Consequently, dimension-independent architectures have been proposed for domains where the inputs are graphs, sets, and point clouds. Recent work on graph…

Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control within a single learning framework. This review presents a…

The widespread success of artificial intelligence in fields like natural language processing and computer vision has not yet fully transferred to robotics, where progress is hindered by the lack of large-scale training data and the…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Transfer Learning (TL) is a powerful tool that enables robots to transfer learned policies across different environments, tasks, or embodiments. To further facilitate this process, efforts have been made to combine it with Learning from…

Deep learning (DL) has transformed applications in a variety of domains, including computer vision, natural language processing, and tabular data analysis. The search for improved DL model accuracy has led practitioners to explore…

Transformers have dominated empirical machine learning models of natural language processing. In this paper, we introduce basic concepts of Transformers and present key techniques that form the recent advances of these models. This includes…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…

Designing soft robots is a complex and iterative process that demands cross-disciplinary expertise in materials science, mechanics, and control, often relying on intuition and extensive experimentation. While foundation models, especially…

Future AI-based studies in particle physics will likely start from a foundation model to accelerate training and enhance sensitivity. As a step towards a general-purpose foundation model for particle physics, we investigate whether the…

In deep learning, transfer learning (TL) has become the de facto approach when dealing with image related tasks. Visual features learnt for one task have been shown to be reusable for other tasks, improving performance significantly. By…