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Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

In this paper, we introduce a novel visual representation learning which relies on a handful of adaptively learned tokens, and which is applicable to both image and video understanding tasks. Instead of relying on hand-designed splitting…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…

Robots need to learn behaviors in intuitive and practical ways for widespread deployment in human environments. To learn a robot behavior end-to-end, we train a variant of the ResNet that maps eye-in-hand camera images to end-effector…

As synthetic imagery is used more frequently in training deep models, it is important to understand how different synthesis techniques impact the performance of such models. In this work, we perform a thorough evaluation of the…

In surveillance, monitoring and tactical reconnaissance, gathering the right visual information from a dynamic environment and accurately processing such data are essential ingredients to making informed decisions which determines the…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. Within this paper, we present methods that…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…