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

Domain generalization aims at training on source domains to uncover a domain-invariant feature space, allowing the model to perform robust generalization ability on unknown target domains. However, due to domain gaps, it is hard to find…

Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observations, resulting in brittle behavior under appearance shifts such as background changes and object recoloring. We propose a…

In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting…

Enabling robots to learn novel visuomotor skills in a data-efficient manner remains an unsolved problem with myriad challenges. A popular paradigm for tackling this problem is through leveraging large unlabeled datasets that have many…

Robots need robust and flexible vision systems 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…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

As machine learning models continue to increase in complexity, collecting large hand-labeled training sets has become one of the biggest roadblocks in practice. Instead, weaker forms of supervision that provide noisier but cheaper labels…

Deep learning-based models, when trained in a fully-supervised manner, can be effective in performing complex image analysis tasks, although contingent upon the availability of large labeled datasets. Especially in the medical imaging…

This paper explores a multimodal co-training framework designed to enhance model generalization in situations where labeled data is limited and distribution shifts occur. We thoroughly examine the theoretical foundations of this framework,…

In this paper, we consider the problem of learning policies to control a large number of homogeneous robots. To this end, we propose a new algorithm we call Graph Policy Gradients (GPG) that exploits the underlying graph symmetry among the…

Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if…

Despite the impressive advances achieved using deep learning for functional brain activity analysis, the heterogeneity of functional patterns and the scarcity of imaging data still pose challenges in tasks such as identifying neurological…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

How can we build generalist robot systems? Scale may not be enough due to the significant multimodality of robotics tasks, lack of easily accessible data and the challenges of deploying on physical hardware. Meanwhile, most deployed robotic…

Human adaptability relies crucially on learning and merging knowledge from both supervised and unsupervised tasks: the parents point out few important concepts, but then the children fill in the gaps on their own. This is particularly…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…

Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and…

Most activity localization methods in the literature suffer from the burden of frame-wise annotation requirement. Learning from weak labels may be a potential solution towards reducing such manual labeling effort. Recent years have…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

This paper presents a framework for learning vision-based robotic policies for contact-rich manipulation tasks that generalize spatially across task configurations. We focus on achieving robust spatial generalization of the policy for the…