相关论文: Learning Object-Centric Spatial Reasoning for Sequ…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Modern retrieval systems are often driven by an underlying machine learning model. The goal of such systems is to identify and possibly rank the few most relevant items for a given query or context. Thus, such systems are typically…

Cloud robotics enables robots to offload high-dimensional motion planning and reasoning to remote servers. However, for continuous manipulation tasks requiring high-frequency control, network latency and jitter can severely destabilize the…

Spatial reasoning over three-dimensional scenes is a core capability for embodied intelligence, yet continuous model improvement remains bottlenecked by the cost of geometric annotation. The self-evolving paradigm offers a promising path,…

Despite the popularity of transformers in practice, their architectures are empirically designed and neither mathematically justified nor interpretable. Moreover, as indicated by many empirical studies, some components of transformer…

Wireless sensing, traditionally relying on signal processing (SP) techniques, has recently shifted toward data-driven deep learning (DL) to achieve performance breakthroughs. However, existing deep wireless sensing models are typically…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

Partial differential equations (PDEs) govern complex systems, yet neural operators often struggle to efficiently capture the long-range, nonlocal interactions inherent in their solution maps. We introduce Spectral Filtering Operator (SFO),…

LLMs have fundamentally transformed dense retrieval, upgrading backbones from discriminative encoders to generative architectures. However, a critical disconnect remains: while LLMs possess strong reasoning capabilities, current retrievers…

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…

Reinforcement Learning (RL) can enable agents to learn complex tasks. However, it is difficult to interpret the knowledge and reuse it across tasks. Inductive biases can address such issues by explicitly providing generic yet useful…

Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact,…

Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…

The ability to carve the world into useful abstractions in order to reason about time and space is a crucial component of intelligence. In order to successfully perceive and act effectively using senses we must parse and compress large…

Current embodied reasoning agents struggle to plan for long-horizon tasks that require to physically interact with the world to obtain the necessary information (e.g. 'sort the objects from lightest to heaviest'). The improvement of the…

Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…

Data efficiency in robotic skill acquisition is crucial for operating robots in varied small-batch assembly settings. To operate in such environments, robots must have robust obstacle avoidance and versatile goal conditioning acquired from…

The development of autonomous agents has seen a revival of enthusiasm due to the emergence of LLMs, such as GPT-4o. Deploying these agents in environments where they coexist with humans (e.g., as domestic assistants) requires special…