19 accepted papers
Grasping objects in cluttered environments remains a fundamental yet challenging problem in robotic manipulation. While prior works have explored learning-based synergies between pushing and grasping for two-fingered grippers, few have leveraged the high degrees of freedom (DoF) in dexterous hands t
Grasping objects in cluttered environments remains a fundamental yet challenging problem in robotic manipulation. While prior works have explored learning-based synergies between pushing and grasping for two-fingered grippers, few have leveraged the high degrees of freedom (DoF) in dexterous hands t…
Learning causal structures from temporal data is fundamental to many practical tasks, such as physical laws discovery and root causes localization. Real-world systems often exhibit long-term carry-over effects, where the value of a variable at the current time can be influenced by distant past va…
Multi-UAV cooperative coverage missions across geographically separated regions face significant challenges due to potential UAV failures during mission execution. To address the challenges of efficient multi-region coverage and dynamic failure handling, this paper presents a novel real-time path-re
跨越地理分离的多无人机协作覆盖任务 各地区因潜在无人机故障面临重大挑战 在执行任务时。解决效率挑战 本文介绍了多区域覆盖与动态失效处理 一种新型实时路径可重构覆盖规划算法 跨越地理区域的多无人机覆盖路径规划 具备实时路径重配置功能。拟议 方法，GRIT-M（贪婪修复初始化多重的禁忌搜索） 扩展了GRIT算法，以高效处理初始 无人机在任务中故障时的规划和在线路径修复 执行。与现有方法不同，这些方法要么只专注于单一区域 无论覆盖率或缺失，GRIT-M都包含了故障处理机制 通过三项关键创新实现区域特定知识：（1） a 优化区域间的复合过渡成本函数 运动，（2ᦀ
Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether robot-centric or object-centric, often overlook the dynamic geom…
Designing robust reinforcement learning (RL) agents in the presence of imperfect reward signals remains a core challenge. In practice, agents are often trained with proxy rewards that only approximate the true objective, leaving them vulnerable to reward hacking, where high proxy returns arise from…
Reward-model-based fine-tuning is a central paradigm in aligning Large Language Models with human preferences. However, such approaches critically rely on the assumption that proxy reward models accurately reflect intended supervision, a condition often violated due to annotation noise, bias, or lim
Residual reinforcement learning (RL) enables stable online refinement of expressive pretrained policies by freezing the base and learning only bounded corrections. However, value learning in residual RL poses unique challenges that remain poorly understood. In this work, we identify two key bottlene…
Reconstructing precise camera poses and floor plan layouts from wide-baseline RGB panoramas is a difficult and unsolved problem. We introduce BADGR, a novel diffusion model that jointly performs reconstruction and bundle adjustment (BA) to refine poses and layouts from a coarse state, using 1D floor…
Recent advances in multi-modal models have demonstrated strong performance in tasks such as image generation and reasoning. However, applying these models to the fire domain remains challenging due to the lack of publicly available datasets with high-quality fire domain annotations. To address this…
Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various complex, long-horizon manipulation tasks. However, existing approac…
Since the resurgence of deep learning, vision-language models (VLMs) enhanced by large language models (LLMs) have grown exponentially in popularity. However, while LLMs can utilize extensive background knowledge and task information with in-context learning, most VLMs still struggle with understan…
To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability exhibited by LLMs. The vast diversity in objects, robots, a…
Plasticity, the ability of a neural network to evolve with new data, is crucial for high-performance and sample-efficient visual reinforcement learning (VRL). Although methods like resetting and regularization can potentially mitigate plasticity loss, the influences of various components within the…
Offline model-based optimization aims to find a design that maximizes a property of interest using only an offline dataset, with applications in robot, protein, and molecule design, among others. A prevalent approach is gradient ascent, where a proxy model is trained on the offline dataset and then…
Mixup, which creates synthetic training instances by linearly interpolating random sample pairs, is a simple and yet effective regularization technique to boost the performance of deep models trained with SGD. In this work, we report a previously unobserved phenomenon in Mixup raining: on a number o…
We study offline model-based optimization to maximize a black-box objective function with a static dataset of designs and scores. These designs encompass a variety of domains, including materials, robots, DNA sequences, and proteins. A common approach trains a proxy on the static dataset and perform…
Summarizing biomedical discovery from genomics data using natural languages is an essential step in biomedical research but is mostly done manually. Here, we introduce Textomics, a novel dataset of genomics data description, which contains 22,273 pairs of genomics data matrices and their summaries.…