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Masked Autoencoder~(MAE) is a prevailing self-supervised learning method that achieves promising results in model pre-training. However, when the various downstream tasks have data distributions different from the pre-training data, the…
In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Bimanual manipulation tasks typically involve multiple stages which require efficient interactions between two arms, posing step-wise and stage-wise challenges for imitation learning systems. Specifically, failure and delay of one step will…
In speech recognition, it is essential to model the phonetic content of the input signal while discarding irrelevant factors such as speaker variations and noise, which is challenging in low-resource settings. Self-supervised pre-training…
Human Pose Estimation (HPE) aims at retrieving the 3D position of human joints from images or videos. We show that current 3D HPE methods suffer a lack of viewpoint equivariance, namely they tend to fail or perform poorly when dealing with…
We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…
Identity Switching remains one of the main difficulties Multiple Object Tracking (MOT) algorithms have to deal with. Many state-of-the-art approaches now use sequence models to solve this problem but their training can be affected by biases…
Masked Autoencoders (MAE) have been popular paradigms for large-scale vision representation pre-training. However, MAE solely reconstructs the low-level RGB signals after the decoder and lacks supervision upon high-level semantics for the…
To meet the growing demand for smarter, faster, and more efficient embodied AI solutions, we introduce a novel Mixture-of-Expert (MoE) method that significantly boosts reasoning and learning efficiency for embodied autonomous systems.…
Algorithm selection and hyperparameter tuning remain two of the most challenging tasks in machine learning. Automated machine learning (AutoML) seeks to automate these tasks to enable widespread use of machine learning by non-experts. This…
Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…
Joint-Embedding Predictive Architecture (JEPA) has emerged as a promising self-supervised approach that learns by leveraging a world model. While previously limited to predicting missing parts of an input, we explore how to generalize the…
Predicting the future of surrounding agents and accordingly planning a safe, goal-directed trajectory are crucial for automated vehicles. Current methods typically rely on imitation learning to optimize metrics against the ground truth,…
Whole-slide images are central to digital pathology, yet their extreme size and scarce annotations make self-supervised learning essential. Masked Autoencoders (MAEs) with Vision Transformer backbones have recently shown strong potential…
Perceiving and autonomously navigating through work zones is a challenging and underexplored problem. Open datasets for this long-tailed scenario are scarce. We propose the ROADWork dataset to learn to recognize, observe, analyze, and drive…
Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…
Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…
Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…
For the majority of the learning-based segmentation methods, a large quantity of high-quality training data is required. In this paper, we present a novel learning-based segmentation model that could be trained semi- or un- supervised.…