6 papers
Hierarchical Prompting with Dual LLM Modules for Robotic Task and Motion Planning
Karolina Źróbek, Tessa Pulli, PaweŠGajewski +2
We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios.…
UNCOM: Zero-shot Context-Aware Command Understanding for Tabletop Scenarios
Antonio Galiza Cerdeira Gonzalez, PaweÅ Gajewski, Bipin Indurkhya
This paper presents UNCOM, a novel hybrid framework for interpreting natural human commands in tabletop scenarios. The system integrates multiple sources of information -- speech,…
Goal-Conditioned Decision Transformer for Multi-Goal Offline Reinforcement Learning
PaweŠGajewski, Dominik Żurek, Marcin PietroŠ+1
Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals. While Offline RL mitigates the need for costl…
Automated Detection of Mutual Gaze and Joint Attention in Dual-Camera Settings via Dual-Stream Transformers
Jakub Kosmydel, PaweÅ Gajewski, Arkadiusz BiaÅek
Analyzing mutual gaze (MG) and joint attention (JA) is critical in developmental psychology but traditionally relies on labor-intensive manual coding. Automating this process in mu…
TSN-Affinity: Similarity-Driven Parameter Reuse for Continual Offline Reinforcement Learning
Dominik Żurek, Kamil Faber, Marcin Pietron +2
Continual offline reinforcement learning (CORL) aims to learn a sequence of tasks from datasets collected over time while preserving performance on previously learned tasks. This s…
SatSOM: Saturation Self-Organizing Maps for Continual Learning
Igor Urbanik, PaweÅ Gajewski
Continual learning poses a fundamental challenge for neural systems, which often suffer from catastrophic forgetting when exposed to sequential tasks. Self-Organizing Maps (SOMs),…