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

Developing broadly generalizable visual navigation policies for robots is a significant challenge, primarily constrained by the availability of large-scale, diverse training data. While curated datasets collected by researchers offer high…

Self-supervised learning and data augmentation have significantly reduced the performance gap between state and image-based reinforcement learning agents in continuous control tasks. However, it is still unclear whether current techniques…

In this paper, we consider a highly general image recognition setting wherein, given a labelled and unlabelled set of images, the task is to categorize all images in the unlabelled set. Here, the unlabelled images may come from labelled…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

The ability of deep learning models to generalize well across different scenarios depends primarily on the quality and quantity of annotated data. Labeling large amounts of data for all possible scenarios that a model may encounter would…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Deep reinforcement learning policies, despite their outstanding efficiency in simulated visual control tasks, have shown disappointing ability to generalize across disturbances in the input training images. Changes in image statistics or…

Humans perceive the world through multiple senses, enabling them to create a comprehensive representation of their surroundings and to generalize information across domains. For instance, when a textual description of a scene is given,…

The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, the hardware cost and design constraints in real-world scenarios can potentially make it…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

Visual reinforcement learning policies trained on pixel observations often struggle to generalize when visual conditions change at test time. Object-centric representations are a promising alternative, but most approaches use fixed-size…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…

There has recently been significant interest in training reinforcement learning (RL) agents in vision-based environments. This poses many challenges, such as high dimensionality and the potential for observational overfitting through…

The existing internet-scale image and video datasets cover a wide range of everyday objects and tasks, bringing the potential of learning policies that generalize in diverse scenarios. Prior works have explored visual pre-training with…

Vision-language-action (VLA) models have shown strong generalization for robotic action prediction through large-scale vision-language pretraining. However, most existing models rely solely on RGB cameras, limiting their perception and,…

Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…