相关论文: Pay attention! - Robustifying a Deep Visuomotor Po…

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…

Traffic accident anticipation aims to accurately and promptly predict the occurrence of a future accident from dashcam videos, which is vital for a safety-guaranteed self-driving system. To encourage an early and accurate decision, existing…

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

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…

We study how to generalize the visuomotor policy of a mobile manipulator from the perspective of visual observations. The mobile manipulator is prone to occlusion owing to its own body when only a single viewpoint is employed and a…

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…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

Driver visual attention prediction is a critical task in autonomous driving and human-computer interaction (HCI) research. Most prior studies focus on estimating attention allocation at a single moment in time, typically using static RGB…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Human behavior understanding requires looking at minute details in the large context of a scene containing multiple input modalities. It is necessary as it allows the design of more human-like machines. While transformer approaches have…

The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material handling in warehouses. To robustly manipulate heavy objects…

The Vision-Language-Action (VLA) models have demonstrated remarkable performance on embodied tasks and shown promising potential for real-world applications. However, current VLAs still struggle to produce consistent and precise…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…