相关论文: Learning Object-Centric Spatial Reasoning for Sequ…
Identifying from observation data the governing differential equations of a physical dynamics is a key challenge in machine learning. Although approaches based on SINDy have shown great promise in this area, they still fail to address a…
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…
Algorithms based on deep network models are being used for many pattern recognition and decision-making tasks in robotics and AI. Training these models requires a large labeled dataset and considerable computational resources, which are not…
Positional encoding (PE) underpins how permutation-invariant Transformers represent sequence order, yet how positional information is processed and stored remains poorly understood. Modern PE methods such as RoPE still struggle on tasks…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Synthetic aperture radar (SAR) images contain not only targets of interest but also complex background clutter, including terrain reflections and speckle noise. In many cases, such clutter exhibits intensity and patterns that resemble…
In this work, we investigate how spatially grounded auxiliary representations can provide both broad, high-level grounding as well as direct, actionable information to improve policy learning performance and generalization for dexterous…
This paper is an initial endeavor to bridge the gap between powerful Deep Reinforcement Learning methodologies and the problem of exploration/coverage of unknown terrains. Within this scope, MarsExplorer, an openai-gym compatible…
Open-Ended Learning (OEL) autonomous robots can acquire new skills and knowledge through direct interaction with their environment, relying on mechanisms such as intrinsic motivations and self-generated goals to guide learning processes.…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
Continuous Relation Extraction (CRE) aims to incrementally learn relation knowledge from a non-stationary stream of data. Since the introduction of new relational tasks can overshadow previously learned information, catastrophic forgetting…
A recent trend in vision-language models (VLMs) has been to enhance their spatial cognition for embodied domains. Despite progress, existing evaluations have been limited both in paradigm and in coverage, hindering rapid, iterative model…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
Reinforcement Learning (RL) lacks benchmarks that enable precise, white-box diagnostics of agent behavior. Current environments often entangle complexity factors and lack ground-truth optimality metrics, making it difficult to isolate why…
Although legged robots demonstrate impressive mobility on rough terrain, using them safely in cluttered environments remains a challenge. A key issue is their inability to avoid stepping on low-lying objects, such as high-cost small devices…
Manipulation in clutter requires solving complex sequential decision making problems in an environment rich with physical interactions. The transfer of motion planning solutions from simulation to the real world, in open-loop, suffers from…
Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…
When simulating multiscale stochastic differential equations (SDEs) in high-dimensions, separation of timescales, stochastic noise and high-dimensionality can make simulations prohibitively expensive. The computational cost is dictated by…
Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…
Retrieving objects buried beneath multiple objects is not only challenging but also time-consuming. Performing manipulation in such environments presents significant difficulty due to complex contact relationships. Existing methods…