相关论文: D3-Gym: Constructing Real-World Verifiable Environ…

Effective visual representation learning is crucial for reinforcement learning (RL) agents to extract task-relevant information from raw sensory inputs and generalize across diverse environments. However, existing RL benchmarks lack the…

Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…

Despite groundbreaking progress in reinforcement learning for robotics, gameplay, and other complex domains, major challenges remain in applying reinforcement learning to the evolving, open-world problems often found in critical application…

Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…

We present ContainerGym, a benchmark for reinforcement learning inspired by a real-world industrial resource allocation task. The proposed benchmark encodes a range of challenges commonly encountered in real-world sequential decision making…

Materials discovery relies on high-throughput, high-fidelity simulation techniques such as Density Functional Theory (DFT), which require years of training, extensive parameter fine-tuning and systematic error handling. To address these…

Solving complex real-world tasks requires cycles of actions and observations. This is particularly true in science, where tasks require many cycles of analysis, tool use, and experimentation. Language agents are promising for automating…

As the use of text-to-image generative models increases, so does the adoption of automatic benchmarking methods used in their evaluation. However, while metrics and datasets abound, there are few unified benchmarking libraries that provide…

Large vision-language models have achieved remarkable capabilities by training on massive internet-scale data, yet a fundamental asymmetry persists: while LLMs can leverage self-supervised pretraining on abundant text and image data, the…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

In recent years, program verifiers and interactive theorem provers have become more powerful and more suitable for verifying large programs or proofs. This has demonstrated the need for improving the user experience of these tools to…

Recent advancements in deep learning, computer vision, and embodied AI have given rise to synthetic causal reasoning video datasets. These datasets facilitate the development of AI algorithms that can reason about physical interactions…

We introduce controlgym, a library of thirty-six industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym…

Large Language Models (LLMs) are increasingly capable of generating complete applications from natural language instructions, creating new opportunities in science and education. In these domains, interactive scientific demonstrations are…

Current methods for 2D and 3D object understanding struggle with severe occlusions in busy urban environments, partly due to the lack of large-scale labeled ground-truth annotations for learning occlusion. In this work, we introduce a novel…

Large Language Models (LLMs) have demonstrated promising reasoning capabilities in robotics; however, their application in multi-robot systems remains limited, particularly in handling task dependencies. This paper introduces DART-LLM, a…

Over the past few years, we have seen fundamental breakthroughs in core problems in machine learning, largely driven by advances in deep neural networks. At the same time, the amount of data collected in a wide array of scientific domains…

Autonomous driving requires robust perception models trained on high-quality, large-scale multi-view driving videos for tasks like 3D object detection, segmentation and trajectory prediction. While world models provide a cost-effective…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

Large Language Models (LLMs) show promise in automated software engineering, yet their guarantee of correctness is frequently undermined by erroneous or hallucinated code. To enforce model honesty, formal verification requires LLMs to…