相关论文: Mid-Level Visual Representations Improve Generaliz…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

An effective technique for obtaining high-quality representations is adding a projection head on top of the encoder during training, then discarding it and using the pre-projection representations. Despite its proven practical…

In recent years self-supervised learning has emerged as a promising candidate for unsupervised representation learning. In the visual domain its applications are mostly studied in the context of images of natural scenes. However, its…

Learning effective representations in image-based environments is crucial for sample efficient Reinforcement Learning (RL). Unfortunately, in RL, representation learning is confounded with the exploratory experience of the agent -- learning…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

We study pre-training representations for decision-making using video data, which is abundantly available for tasks such as game agents and software testing. Even though significant empirical advances have been made on this problem, a…

Results in interpretability suggest that large vision and language models learn implicit linear encodings when models are biased by in-context prompting. However, the existence of similar linear representations in more general adaptation…

The pretrain-finetune paradigm usually improves downstream performance over training a model from scratch on the same task, becoming commonplace across many areas of machine learning. While pretraining is empirically observed to be…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

One of the primary challenges faced by deep learning is the degree to which current methods exploit superficial statistics and dataset bias, rather than learning to generalise over the specific representations they have experienced. This is…

Representation learning has been widely studied in the context of meta-learning, enabling rapid learning of new tasks through shared representations. Recent works such as MAML have explored using fine-tuning-based metrics, which measure the…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Recently, data-driven deep saliency models have achieved high performance and have outperformed classical saliency models, as demonstrated by results on datasets such as the MIT300 and SALICON. Yet, there remains a large gap between the…

End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…

Self-supervised learning and data augmentation have significantly reduced the performance gap between state and image-based reinforcement learning agents in continuous control tasks. However, it is still unclear whether current techniques…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

From the beginning of zero-shot learning research, visual attributes have been shown to play an important role. In order to better transfer attribute-based knowledge from known to unknown classes, we argue that an image representation with…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…