外观
论文arXiv 2610.0217027 天前
观察、推断、协调：面向零样本协调的机器人伙伴约束推断
原文链接：Watch, Infer, Coordinate: Inferring Robot Partner Constraints for Zero-Shot Coordination（arXiv 2610.02170 · 发布日期：2026-10-01）
Watch, Infer, Coordinate: Inferring Robot Partner Constraints for Zero-Shot Coordination
研究机器人从协作观察中推断伙伴物理约束，并用联合行为评分方法在三个物理耦合操作设置验证零样本协调。
核心要点
- 动机是伙伴因硬件退化或执行器故障受限，而这些限制可能对协作方未知。
- 难点在于示范只显示受限机器人做了什么，且另一机器人可能补偿其限制。
- 提出 Watch, Infer, Coordinate 基准，并用观察到的联合行为为候选约束评分。
- 在三个物理耦合操作设置中，方法改进约束推断和零样本协调，接近真约束 oracle。
验证范围与局限：验证范围限于所提出基准中的三个物理耦合操作设置。
英文摘要 (Abstract)
Robots operating in the physical world will increasingly need to coordinate with other robots, particularly in manipulation tasks where an object may be too large or heavy for a single robot to carry alone. Physical limitations caused by hardware degradation or actuator faults can restrict the actions a robot can reliably execute, yet these limitations may be unknown to its partner. We study whether a helper can infer a robot partner's physical constraints from observing it coordinate with another robot, then use the inferred capability to coordinate with the same partner on a new task. This is difficult because a demonstration shows what the constrained robot did, but not what it could have done. In physically coupled tasks, the other robot may also compensate for its limitations, making those limitations difficult to identify from the constrained robot's behavior alone. Our key insight is that these constraints shape the joint behavior of the team, making the actions of both robots informative about the constrained partner's capability. We introduce Watch, Infer, Coordinate, a benchmark spanning three physically coupled manipulation settings, together with an inference approach that scores candidate constraints using observed joint behavior. Across all three settings, our method substantially improves constraint inference and zero-shot coordination, approaching an oracle with access to the true constraints.
作者：Suyu Ye, Zheyuan Zhang, Vaishnav Tadiparthi, Hossein Nourkhiz Mahjoub, Ehsan Moradi‐Pari, Tianmin Shu, Homanga Bharadhwaj, Nakul Agarwal
来源
本页事实对应的公开页面，以原文为准。