11 accepted papers
Temporally extended actions improve the ability to explore and plan in single-agent settings. In multi-agent settings, the exponential growth of the joint state space with the number of agents makes coordinated behaviours even more valuable. Yet, this same exponential growth renders the design of mu…
An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge across many domains can be used to predict a sequence of abs
Robots are increasingly being used in different application domains due to rapid advancements in hardware and computational methods. However, state of the art methods for many problems in robotics are based on deep networks and similar data-driven models. These methods and models are resource-hungry…
Assistive agents performing household tasks such as making the bed or cooking breakfast often compute and execute actions that accomplish one task at a time. However, efficiency can be improved by anticipating upcoming tasks and computing an action sequence that jointly achieves these tasks. State-o…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses planning and execution capabilities, and poses challenges in perce
State of the art methods for ad hoc teamwork, i.e., for collaboration without prior coordination, often use a long history of prior observations to model the behavior of other agents (or agent types) and to determine the ad hoc agent's behavior. In many practical domains, it is difficult to obtain l…
The Multi-Object Navigation (MultiON) task requires a robot to localize an instance (each) of multiple object classes. It is a fundamental task for an assistive robot in a home or a factory. Existing methods for MultiON have viewed this as a direct extension of Object Navigation (ON), the task of lo…
In recent years, there has been a resurgence in methods that use distributed (neural) representations to represent and reason about semantic knowledge for robotics applications. However, while robots often observe previously unknown concepts, these representations typically assume that all concepts
We describe a framework for changing-contact robot manipulation tasks, which require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a single dynamics model or control strategy for such tasks.…
Our architecture uses non-monotonic logical reasoning with incomplete commonsense domain knowledge, and incremental inductive learning, to guide the construction of deep network models from a small number of training examples. Experimental results in the context of a robot reasoning about the partia…
Algorithms based on deep network models are being used for many pattern recognition and decision-making tasks in robotics and AI. Training these models requires a large labeled dataset and considerable computational resources, which are not readily available in many domains. Also, it is difficult to…