相关论文: AGIL: Learning Attention from Human for Visuomotor…
Human eye gaze plays an important role in delivering information, communicating intent, and understanding others' mental states. Previous research shows that a robot's gaze can also affect humans' decision-making and strategy during an…
Developing useful interfaces between brains and machines is a grand challenge of neuroengineering. An effective interface has the capacity to not only interpret neural signals, but predict the intentions of the human to perform an action in…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Modeling and automatically recognizing surgical activities are fundamental steps toward automation in surgery and play important roles in providing timely feedback to surgeons. Accurately recognizing surgical activities in video poses a…
Recently, Transformer has made significant progress in various vision tasks. To balance computation and efficiency in video tasks, recent works heavily rely on factorized or window-based self-attention. However, these approaches split…
The development of algorithms that learn multi-agent behavioral models using human demonstrations has led to increasingly realistic simulations in the field of autonomous driving. In general, such models learn to jointly predict…
Imitation learning learns a policy from demonstrations without requiring hand-designed reward functions. In many robotic tasks, such as autonomous racing, imitated policies must model complex environment dynamics and human decision-making.…
Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…
It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model…
Gaze following aims to interpret human-scene interactions by predicting the person's focal point of gaze. Prevailing approaches often adopt a two-stage framework, whereby multi-modality information is extracted in the initial stage for gaze…
The goal of visual analytics is to create a symbiosis between human and computer by leveraging their unique strengths. While this model has demonstrated immense success, we are yet to realize the full potential of such a human-computer…
Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…
Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans…
Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…
Effective assisted living environments must be able to perform inferences on how their occupants interact with one another as well as with surrounding objects. To accomplish this goal using a vision-based automated approach, multiple tasks…
The goal of our work is to use visual attention to enhance autonomous driving performance. We present two methods of predicting visual attention maps. The first method is a supervised learning approach in which we collect eye-gaze data for…
Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
From smoothly pursuing moving objects to rapidly shifting gazes during visual search, humans employ a wide variety of eye movement strategies in different contexts. While eye movements provide a rich window into mental processes, building…
Enterprise IT support is constrained by heterogeneous devices, evolving policies, and long-tail failure modes that are difficult to resolve centrally. We present VIGIL, an edge-extended agentic AI system that deploys desktop-resident agents…