相关论文: GPLAC: Generalizing Vision-Based Robotic Skills us…

Agents that understand objects and their interactions can learn policies that are more robust and transferable. However, most object-centric RL methods factor state by individual objects while leaving interactions implicit. We introduce the…

Generalist robot manipulation policies (GMPs) have the potential to generalize across a wide range of tasks, devices, and environments. However, existing policies continue to struggle with out-of-distribution scenarios due to the inherent…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

Detailed image captioning is essential for tasks like data generation and aiding visually impaired individuals. High-quality captions require a balance between precision and recall, which remains challenging for current multimodal large…

Many approaches in generalized zero-shot learning rely on cross-modal mapping between the image feature space and the class embedding space. As labeled images are expensive, one direction is to augment the dataset by generating either…

Active learning (AL) aims to improve model performance within a fixed labeling budget by choosing the most informative data points to label. Existing AL focuses on the single-domain setting, where all data come from the same domain (e.g.,…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone during fine-tuning. While co-training with external reasoning…

Thanks to the availability of powerful computing resources, big data and deep learning algorithms, we have made great progress on computer vision in the last few years. Computer vision systems begin to surpass humans in some tasks, such as…

We propose to bridge the gap between semi-supervised and unsupervised image recognition with a flexible method that performs well for both generalized category discovery (GCD) and image clustering. Despite the overlap in motivation between…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

We address the problem of localisation of objects as bounding boxes in images and videos with weak labels. This weakly supervised object localisation problem has been tackled in the past using discriminative models where each object class…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…

What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors…

We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…