相关论文: A Reinforcement Learning Approach to Target Tracki…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Feature tracking is the building block of many applications such as visual odometry, augmented reality, and target tracking. Unfortunately, the state-of-the-art vision-based tracking algorithms fail in surgical images due to the challenges…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

Most of the existing approaches for person re-identification consider a static setting where the number of cameras in the network is fixed. An interesting direction, which has received little attention, is to explore the dynamic nature of a…

Cyber and cyber-physical systems equipped with machine learning algorithms such as autonomous cars share environments with humans. In such a setting, it is important to align system (or agent) behaviors with the preferences of one or more…

We propose a new automated digital painting framework, based on a painting agent trained through reinforcement learning. To synthesize an image, the agent selects a sequence of continuous-valued actions representing primitive painting…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

We study an emerging problem named "grasping the invisible" in robotic manipulation, in which a robot is tasked to grasp an initially invisible target object via a sequence of pushing and grasping actions. In this problem, pushes are needed…

In this work we present a novel framework that uses deep learning to predict object feature points that are out-of-view in the input image. This system was developed with the application of model-based tracking in mind, particularly in the…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem,…

Time-series forecasting is important for many applications. Forecasting models are usually trained using time-series data in a specific target task. However, sufficient data in the target task might be unavailable, which leads to…

The need for a large amount of labeled data in the supervised setting has led recent studies to utilize self-supervised learning to pre-train deep neural networks using unlabeled data. Many self-supervised training strategies have been…

In reinforcement learning algorithms, it is a common practice to account for only a single view of the environment to make the desired decisions; however, utilizing multiple views of the environment can help to promote the learning of…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Graphs can be used to represent and reason about systems and a variety of metrics have been devised to quantify their global characteristics. However, little is currently known about how to construct a graph or improve an existing one given…

Designing a robust affinity model is the key issue in multiple target tracking (MTT). This paper proposes a novel affinity model by learning feature representation and distance metric jointly in a unified deep architecture. Specifically, we…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

Persistent target tracking in urban environments using UAV is a difficult task due to the limited field of view, visibility obstruction from obstacles and uncertain target motion. The vehicle needs to plan intelligently in 3D such that the…