Related papers: Zero-shot Imitation Learning by Latent Topology Ma…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

Zero-shot learning (ZSL) algorithms typically work by exploiting attribute correlations to be able to make predictions in unseen classes. However, these correlations do not remain intact at test time in most practical settings and the…

Zero-shot learning (ZSL) aims to recognize unseen classes by generalizing the relation between visual features and semantic attributes learned from the seen classes. A recent paradigm called transductive zero-shot learning further leverages…

Zero-shot learning (ZSL) aims to learn models that can recognize unseen image semantics based on the training of data with seen semantics. Recent studies either leverage the global image features or mine discriminative local patch features…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

We investigate learning feature-to-feature translator networks by alternating back-propagation as a general-purpose solution to zero-shot learning (ZSL) problems. It is a generative model-based ZSL framework. In contrast to models based on…

Zero-shot learning deals with the ability to recognize objects without any visual training sample. To counterbalance this lack of visual data, each class to recognize is associated with a semantic prototype that reflects the essential…

Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

A desirable property of autonomous agents is the ability to both solve long-horizon problems and generalize to unseen tasks. Recent advances in data-driven skill learning have shown that extracting behavioral priors from offline data can…

Zero-shot learning (ZSL) has received extensive attention recently especially in areas of fine-grained object recognition, retrieval, and image captioning. Due to the complete lack of training samples and high requirement of defense…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Zero-shot recognition (ZSR) aims to recognize target-domain data instances of unseen classes based on the models learned from associated pairs of seen-class source and target domain data. One of the key challenges in ZSR is the relative…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

With recent progress in large-scale map maintenance and long-term map learning, the task of change detection on a large-scale map from a visual image captured by a mobile robot has become a problem of increasing criticality. Previous…

Vision-language models (VLMs) like CLIP have demonstrated impressive zero-shot ability in image classification tasks by aligning text and images but suffer inferior performance compared with task-specific expert models. On the contrary,…

In this paper we consider a version of the zero-shot learning problem where seen class source and target domain data are provided. The goal during test-time is to accurately predict the class label of an unseen target domain instance based…