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

Vision-based reinforcement learning (RL) is successful, but how to generalize it to unknown test environments remains challenging. Existing methods focus on training an RL policy that is universal to changing visual domains, whereas we…

Transformer attention is typically implemented using softmax normalization, which enforces attention weights with unit sum normalization. While effective in many settings, this constraint can limit flexibility in controlling attention…

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as…

Mental simulation is a critical cognitive function for goal-directed behavior because it is essential for assessing actions and their consequences. When a self-generated or externally specified goal is given, a sequence of actions that is…

Biological and artificial agents need to deal with constant changes in the real world. We study this problem in four classical continuous control environments, augmented with morphological perturbations. Learning to locomote when the length…

Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…

Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner. However, their substantial…

Contact-rich manipulation tasks such as tight-clearance insertion, connector mating, polishing, and surface-conforming wiping remain difficult for data-driven controllers because they couple discontinuous contact dynamics, partial…

Fine-grained object classification is a challenging task due to the subtle inter-class difference and large intra-class variation. Recently, visual attention models have been applied to automatically localize the discriminative regions of…

Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…

It is a long-term goal to transfer biological processing principles as well as the power of human recognition into machine vision and engineering systems. One of such principles is visual attention, a smart human concept which focuses…

Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…

Vision-Language-Action (VLA) models excel in robotic manipulation but suffer from significant inference latency due to processing dense visual tokens. Existing token reduction methods predominantly rely on attention magnitude as a static…

Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However, existing VLAs are primarily trained on successful expert…

While modern text-to-image models excel at prompt-based generation, they often lack the fine-grained control necessary for specific user requirements like spatial layouts or subject appearances. Multi-condition control addresses this, yet…

Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Vision-Language-Action (VLA) models have shown strong performance on embodied manipulation, yet they remain brittle under visual observation changes, paraphrased language instructions, and compounded perturbations. This limitation suggests…

Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing methods remain unsatisfactory due to inherent limitations in the…

Reinforcement learning with verifiable rewards (RLVR) has significantly advanced the reasoning ability of vision-language models (VLMs). However, the inherent text-dominated nature of VLMs often leads to insufficient visual faithfulness,…