相关论文: Learning Neural Parsers with Deterministic Differe…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Representation learning is the foundation for the recent success of neural network models. However, the distributed representations generated by neural networks are far from ideal. Due to their highly entangled nature, they are di cult to…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Deep learning architectures exhibit a critical drop of performance due to catastrophic forgetting when they are required to incrementally learn new tasks. Contemporary incremental learning frameworks focus on image classification and object…

Object parsing -- the task of decomposing an object into its semantic parts -- has traditionally been formulated as a category-level segmentation problem. Consequently, when there are multiple objects in an image, current methods cannot…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited…

This study builds on the architecture of the Disentangler of Visual Priors (DVP), a type of autoencoder that learns to interpret scenes by decomposing the perceived objects into independent visual aspects of shape, size, orientation, and…

Imitation learning, which learns agent policy by mimicking expert demonstration, has shown promising results in many applications such as medical treatment regimes and self-driving vehicles. However, it remains a difficult task to interpret…

Deformable image registration poses a challenging problem where, unlike most deep learning tasks, a complex relationship between multiple coordinate systems has to be considered. Although data-driven methods have shown promising…

Current successful approaches for generic (non-semantic) segmentation rely mostly on edge detection and have leveraged the strengths of deep learning mainly by improving the edge detection stage in the algorithmic pipeline. This is in…

Classifying images with an interpretable decision-making process is a long-standing problem in computer vision. In recent years, Prototypical Part Networks has gained traction as an approach for self-explainable neural networks, due to…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

We present the perceptor gradients algorithm -- a novel approach to learning symbolic representations based on the idea of decomposing an agent's policy into i) a perceptor network extracting symbols from raw observation data and ii) a task…

Deep learning approaches to generic (non-semantic) segmentation have so far been indirect and relied on edge detection. This is in contrast to semantic segmentation, where DNNs are applied directly. We propose an alternative approach called…

Deep neural networks have achieved impressive supervised classification performance in many tasks including image recognition, speech recognition, and sequence to sequence learning. However, this success has not been translated to…

Deep learning requires large amounts of training data to be effective. For the task of object segmentation, manually labeling data is very expensive, and hence interactive methods are needed. Following recent approaches, we develop an…

For the semantic segmentation of images, state-of-the-art deep neural networks (DNNs) achieve high segmentation accuracy if that task is restricted to a closed set of classes. However, as of now DNNs have limited ability to operate in an…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…