相关论文: Kitting in the Wild through Online Domain Adaptati…

In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by…

Increasingly, human behavior is captured on mobile devices, leading to an increased interest in automated human activity recognition. However, existing datasets typically consist of scripted movements. Our long-term goal is to perform…

State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…

Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Prior to the deployment of robotic systems, pre-training the deep-recognition models on all potential visual cases is infeasible in practice. Hence, test-time adaptation (TTA) allows the model to adapt itself to novel environments and…

Progress in machine learning is typically measured by training and testing a model on the same distribution of data, i.e., the same domain. This over-estimates future accuracy on out-of-distribution data. The Visual Domain Adaptation…

Our goal is to improve reliability of Machine Learning (ML) systems deployed in the wild. ML models perform exceedingly well when test examples are similar to train examples. However, real-world applications are required to perform on any…

Models trained on one set of domains often suffer performance drops on unseen domains, e.g., when wildlife monitoring models are deployed in new camera locations. In this work, we study principles for designing data augmentations for…

Despite the rapid progress in deep visual recognition, modern computer vision datasets significantly overrepresent the developed world and models trained on such datasets underperform on images from unseen geographies. We investigate the…

We introduce a novel approach for scalable domain adaptation in cloud robotics scenarios where robots rely on third-party AI inference services powered by large pre-trained deep neural networks. Our method is based on a downstream…

It is desirable for detection and classification algorithms to generalize to unfamiliar environments, but suitable benchmarks for quantitatively studying this phenomenon are not yet available. We present a dataset designed to measure…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

Data augmentation is one of the most important tools in training modern deep neural networks. Recently, great advances have been made in searching for optimal augmentation policies in the image classification domain. However, two key points…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

Approaches to goal recognition have progressively relaxed the requirements about the amount of domain knowledge and available observations, yielding accurate and efficient algorithms capable of recognizing goals. However, to recognize goals…

Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…

Selecting or designing an appropriate domain adaptation algorithm for a given problem remains challenging. This paper presents a Transformer model that can provably approximate and opt for domain adaptation methods for a given dataset in…

Images can vary according to changes in viewpoint, resolution, noise, and illumination. In this paper, we aim to learn representations for an image, which are robust to wide changes in such environmental conditions, using training pairs of…