相关论文: SADP: Subgoal-Aware Diffusion Policy for Explainab…

With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now widely used to train large, generalized policies that predict…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…

Diffusion models have demonstrated strong potential for robotic trajectory planning. However, generating coherent trajectories from high-level instructions remains challenging, especially for long-range composition tasks requiring multiple…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

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…

If generalist robots are to operate in truly unstructured environments, they need to be able to recognize and reason about novel objects and scenarios. Such objects and scenarios might not be present in the robot's own training data. We…

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…

In this paper, we consider a transfer reinforcement learning problem involving agents with different action spaces. Specifically, for any new unseen task, the goal is to use a successful demonstration of this task by an expert agent in its…

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

One of the challenges of open-ended learning in robots is the need to autonomously discover goals and learn skills to achieve them. However, when in lifelong learning settings, it is always desirable to generate sub-goals with their…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…