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It has been reported that deep learning models are extremely vulnerable to small but intentionally chosen perturbations of its input. In particular, a deep network, despite its near-optimal accuracy on the clean images, often mis-classifies…

Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…

Robot perception systems need to perform reliable image segmentation in real-time on noisy, raw perception data. State-of-the-art segmentation approaches use large CNN models and carefully constructed datasets; however, these models focus…

Task-oriented semantic parsing is a critical component of virtual assistants, which is responsible for understanding the user's intents (set reminder, play music, etc.). Recent advances in deep learning have enabled several approaches to…

For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…

State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…

Learning representations of nodes in a low dimensional space is a crucial task with numerous interesting applications in network analysis, including link prediction, node classification, and visualization. Two popular approaches for this…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to reason about spatial relations among object entities from…

To control the lower-limb exoskeleton robot effectively, it is essential to accurately recognize user status and environmental conditions. Previous studies have typically addressed these recognition challenges through independent models for…

Objective functions that optimize deep neural networks play a vital role in creating an enhanced feature representation of the input data. Although cross-entropy-based loss formulations have been extensively used in a variety of supervised…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…

With the widespread use of information technologies, information networks are becoming increasingly popular to capture complex relationships across various disciplines, such as social networks, citation networks, telecommunication networks,…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…