相关论文: Sequence-based Multimodal Apprenticeship Learning …

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…

This paper proposes Relational Similarity Machines (RSM): a fast, accurate, and flexible relational learning framework for supervised and semi-supervised learning tasks. Despite the importance of relational learning, most existing methods…

Multi-modal learning, which focuses on utilizing various modalities to improve the performance of a model, is widely used in video recognition. While traditional multi-modal learning offers excellent recognition results, its computational…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Supervised neural approaches are hindered by their dependence on large, meticulously annotated datasets, a requirement that is particularly cumbersome for sequential tasks. The quality of annotations tends to deteriorate with the transition…

Decision-making is challenging in robotics environments with continuous object-centric states, continuous actions, long horizons, and sparse feedback. Hierarchical approaches, such as task and motion planning (TAMP), address these…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

The ability of robots to manipulate objects relies heavily on their aptitude for visual perception. In domains characterized by cluttered scenes and high object variability, most methods call for vast labeled datasets, laboriously…

Drawing upon the intuition that aligning different modalities to the same semantic embedding space would allow models to understand states and actions more easily, we propose a new perspective to the offline reinforcement learning (RL)…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

Active Learning aims to optimize performance while minimizing annotation costs by selecting the most informative samples from an unlabelled pool. Traditional uncertainty sampling often leads to sampling bias by choosing similar uncertain…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…

Human behavior expression and experience are inherently multi-modal, and characterized by vast individual and contextual heterogeneity. To achieve meaningful human-computer and human-robot interactions, multi-modal models of the users…

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning…

We present a novel spectral learning algorithm for simultaneous localization and mapping (SLAM) from range data with known correspondences. This algorithm is an instance of a general spectral system identification framework, from which it…

In this paper, we address self-supervised representation learning from human skeletons for action recognition. Previous methods, which usually learn feature presentations from a single reconstruction task, may come across the overfitting…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

Temporal Action Localization (TAL) aims to predict both action category and temporal boundary of action instances in untrimmed videos, i.e., start and end time. Fully-supervised solutions are usually adopted in most existing works, and…