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Deep neural networks are typically trained in a single shot for a specific task and data distribution, but in real world settings both the task and the domain of application can change. The problem becomes even more challenging in dense…

General-purpose open-domain dense retrieval systems are usually trained with a large, eclectic mix of corpora and search tasks. How should these diverse corpora and tasks be sampled for training? Conventional approaches sample them…

Scooping items with tools such as spoons and ladles is common in daily life, ranging from assistive feeding to retrieving items from environmental disaster sites. However, developing a general and autonomous robotic scooping policy is…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

The problem of end-to-end learning of a communication system using an autoencoder -- consisting of an encoder, channel, and decoder modeled using neural networks -- has recently been shown to be an effective approach. A challenge faced in…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

In this paper, we propose a new method called Self-Training with Dynamic Weighting (STDW), which aims to enhance robustness in Gradual Domain Adaptation (GDA) by addressing the challenge of smooth knowledge migration from the source to the…

We present a general framework to autonomously achieve a task, where autonomy is acquired by learning sensorimotor patterns of a robot, while it is interacting with its environment. To accomplish the task, using the learned sensorimotor…

We explore simple methods for adapting a trained multi-task UNet which predicts canopy cover and height to a new geographic setting using remotely sensed data without the need of training a domain-adaptive classifier and extensive…

The field of meta-learning seeks to improve the ability of today's machine learning systems to adapt efficiently to small amounts of data. Typically this is accomplished by training a system with a parametrized update rule to improve a…

Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…

The application of deep machine learning methods in astronomy has exploded in the last decade, with new models showing remarkably improved performance on benchmark tasks. Not nearly enough attention is given to understanding the models'…

Meta-learning has received a tremendous recent attention as a possible approach for mimicking human intelligence, i.e., acquiring new knowledge and skills with little or even no demonstration. Most of the existing meta-learning methods are…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…

Unsupervised Domain Adaptation (UDA) endeavors to adjust models trained on a source domain to perform well on a target domain without requiring additional annotations. In the context of domain adaptive semantic segmentation, which tackles…

Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…