相关论文: Neural Architectures for Robot Intelligence

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

How can the stability and efficiency of Artificial Neural Networks (ANNs) be ensured through a systematic analysis method? This paper seeks to address that query. While numerous factors can influence the learning process of ANNs, utilizing…

The neural mechanism of memory has a very close relation with the problem of representation in artificial intelligence. In this paper a computational model was proposed to simulate the network of neurons in brain and how they process…

Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…

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…

One of the most important aims of the fields of robotics, artificial intelligence and artificial life is the design and construction of systems and machines as versatile and as reliable as living organisms at performing high level…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…

Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…

Human-centred systems require an understanding of human actions in the physical world. Temporally extended sequences of actions are intentional and structured, yet existing methods for recognising what actions are performed often do not…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Our goal is to enable a robot to learn how to sequence its actions to perform tasks specified as natural language instructions, given successful demonstrations from a human partner. The ability to plan high-level tasks can be factored as…