7 accepted papers
Effective skill grounding is essential for deploying reusable skills in embodied agents, as even minor embodiment or environmental differences can render an entire skill incompatible. This challenge is particularly pronounced in embodied settings, where agents must operate in dynamic, partially obse…
This work presents MAC-Flow, a simple yet expressive framework for multi-agent coordination. We argue that requirements of effective coordination are twofold: *(i)* a rich representation of the diverse joint behaviors present in offline data and *(ii)* the ability to act efficiently in real time. Ho…
We explore neuro-symbolic approaches to generalize actionable knowledge, enabling embodied agents to tackle complex tasks more effectively in open-domain environments. A key challenge for embodied agents is the generalization of knowledge across diverse environments and situations, as limited experi…
Skill Incremental Learning (SIL) is the process by which an embodied agent expands and refines its skill set over time by leveraging experience gained through interaction with its environment or by the integration of additional data. SIL facilitates efficient acquisition of hierarchical policies gro…
Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a growing interest in adapter-based CiL approaches, where adapters…
One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore the compositionality of complex tasks, and present a novel s…
This study presents a separable and recombinable magnetic robot (SRMR) to deliver and retrieve an untethered magnetic robot (UMR) to a target vascular lesion safely and effectively for robotic endovascular intervention. The SRMR comprises a delivery catheter and UMR connected to the end of the deliv