相关论文: AGIL: Learning Attention from Human for Visuomotor…

Sensor-based human activity recognition has become a critical component of many emerging applications ranging from behavioral medicine to gaming. However, an unprecedented increase in the diversity of sensor devices in the…

We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the…

Human visual system can selectively attend to parts of a scene for quick perception, a biological mechanism known as Human attention. Inspired by this, recent deep learning models encode attention mechanisms to focus on the most…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

Data-driven approaches struggle with precise manipulation; imitation learning requires many hard-to-obtain demonstrations, while reinforcement learning yields brittle, non-generalizable policies. We introduce VisuoTactile Local (ViTaL)…

Eye movements can reveal valuable insights into various aspects of human mental processes, physical well-being, and actions. Recently, several datasets have been made available that simultaneously record EEG activity and eye movements. This…

This paper presents a novel satellite attitude control framework that integrates Soft Actor-Critic (SAC) reinforcement learning with Generative Adversarial Imitation Learning (GAIL) to achieve robust performance under various unknown…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

Joint attention is a core, early-developing form of social interaction. It is based on our ability to discriminate the third party objects that other people are looking at. While it has been shown that people can accurately determine…

Gaze target detection aims to predict the image location where the person is looking and the probability that a gaze is out of the scene. Several works have tackled this task by regressing a gaze heatmap centered on the gaze location,…

Human eye gaze plays a significant role in many virtual and augmented reality (VR/AR) applications, such as gaze-contingent rendering, gaze-based interaction, or eye-based activity recognition. However, prior works on gaze analysis and…

Human motion prediction is important for many virtual and augmented reality (VR/AR) applications such as collision avoidance and realistic avatar generation. Existing methods have synthesised body motion only from observed past motion,…

Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…

Generative Adversarial Imitation Learning (GAIL) is a powerful and practical approach for learning sequential decision-making policies. Different from Reinforcement Learning (RL), GAIL takes advantage of demonstration data by experts (e.g.,…

Generative adversarial imitation learning (GAIL) is a model-free algorithm that has been shown to provide strong results in imitating complex behaviors in high-dimensional environments. In this paper, we utilize the GAIL model for text…

Model-free reinforcement learning (RL) can be used to learn effective policies for complex tasks, such as Atari games, even from image observations. However, this typically requires very large amounts of interaction -- substantially more,…

Imitation learning is widely used for learning to act in complex environments. While pure neural-based methods handle high dimensional data effectively, they suffer from the requirement of large number of samples and are prone to…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

Image-based Reinforcement Learning is known to suffer from poor sample efficiency and generalisation to unseen visuals such as distractors (task-independent aspects of the observation space). Visual domain randomisation encourages transfer…