國立虎尾科技大學 |

Building Adaptable Generalist Robots.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Building Adaptable Generalist Robots./
Author:	Xu, Mengdi.
Description:	1 online resource (249 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-11, Section: B.
Contained By:	Dissertations Abstracts International85-11B.
Subject:	Mechanical engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9798382611907

Building Adaptable Generalist Robots.
Xu, Mengdi.

Building Adaptable Generalist Robots. - 1 online resource (249 pages)

Source: Dissertations Abstracts International, Volume: 85-11, Section: B.

Thesis (Ph.D.)--Carnegie Mellon University, 2024.

Includes bibliographical references

Over the past decade, advancements in deep robot learning have enabled robots to acquire remarkable capabilities. However, these robots often struggle to generalize to new, unseen tasks, highlighting the need for the development of generalist robots. While existing research primarily focuses on enhancing generalization through large-scale pre-training-providing robots with vast datasets and extensive parameters and treating generalization as a naturally emerging trait-this approach does not fully address the complexities of the real world. The real world presents an infinite array of tasks, many of which extend beyond the training scenarios previously encountered by these robots. For example, in healthcare, robots must manage the partial observability resulting from the diverse latent intents of patients, which are not to be covered in the dataset. Similarly, autonomous vehicles must navigate unpredictable traffic, weather, and road conditions, which may go beyond the training data.This thesis contends that, alongside scalability, a strong adaptation capability is crucial for improving generalization in real-world applications. It explores strategies for building robots that can adapt effectively at the time of deployment, with a focus on data efficiency, parameter efficiency, and robustness. The study delves into various adaptive learning methods, including in-context robot learning that conditions on a limited number of demonstrations, unsupervised continual reinforcement learning that uncovers the structure of robot tasks, and the use of large foundation models for building embodied agents. These methodologies demonstrate significant potential, enabling robots to acquire new motor skills across diverse applications and solve complex, long-horizon physical puzzles through creative uses of tools.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798382611907Subjects--Topical Terms:

557493
Mechanical engineering.
Subjects--Index Terms:

Machine learningIndex Terms--Genre/Form:

554714
Electronic books.

Building Adaptable Generalist Robots.
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