相关论文: Sequence-based Multimodal Apprenticeship Learning …

The ability to sequence unordered events is an essential skill to comprehend and reason about real world task procedures, which often requires thorough understanding of temporal common sense and multimodal information, as these procedures…

Recognizing multiple objects in an image is challenging due to occlusions, and becomes even more so when the objects are small. While promising, existing multi-label image recognition models do not explicitly learn context-based…

In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…

Multimodal models trained on complete modality data often exhibit a substantial decrease in performance when faced with imperfect data containing corruptions or missing modalities. To address this robustness challenge, prior methods have…

One of the biggest challenges that complicates applied supervised machine learning is the need for huge amounts of labeled data. Active Learning (AL) is a well-known standard method for efficiently obtaining labeled data by first labeling…

This paper presents a novel deep learning framework for robotic arm manipulation that integrates multimodal inputs using a late-fusion strategy. Unlike traditional end-to-end or reinforcement learning approaches, our method processes image…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Multimodal learning enhances the performance of various machine learning tasks by leveraging complementary information across different modalities. However, existing methods often learn multimodal representations that retain substantial…

A common assumption in multimodal learning is the completeness of training data, i.e., full modalities are available in all training examples. Although there exists research endeavor in developing novel methods to tackle the incompleteness…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Few-shot classification has made great strides due to foundation models that, through priming and prompting, are highly effective few-shot learners. However, this approach has high variance both across different sets of few shots (data…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Pre-trained segmentation models are a powerful and flexible tool for segmenting images. Recently, this trend has extended to medical imaging. Yet, often these methods only produce a single prediction for a given image, neglecting inherent…

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…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Recent deep learning models can efficiently combine inputs from different modalities (e.g., images and text) and learn to align their latent representations, or to translate signals from one domain to another (as in image captioning, or…

Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…

With the rapid development of the new energy vehicle industry, the efficient disassembly and recycling of power batteries have become a critical challenge for the circular economy. In current unstructured disassembly scenarios, the dynamic…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Gradient-based meta-learners such as MAML are able to learn a meta-prior from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. One important limitation of such frameworks is that they seek a common…