相关论文: Learning Navigation Subroutines from Egocentric Vi…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Self-supervised learning allows for better utilization of unlabelled data. The feature representation obtained by self-supervision can be used in downstream tasks such as classification, object detection, segmentation, and anomaly…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

We present a novel approach for fast and reliable policy selection for navigation in partial maps. Leveraging the recent learning-augmented model-based Learning over Subgoals Planning (LSP) abstraction to plan, our robot reuses data…

How should we learn visual representations for embodied agents that must see and move? The status quo is tabula rasa in vivo, i.e. learning visual representations from scratch while also learning to move, potentially augmented with…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

In this work, we address the challenging problem of long-horizon goal-reaching policy learning from non-expert, action-free observation data. Unlike fully labeled expert data, our data is more accessible and avoids the costly process of…

In this paper, we propose self-supervised training for video transformers using unlabeled video data. From a given video, we create local and global spatiotemporal views with varying spatial sizes and frame rates. Our self-supervised…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

This paper presents an unsupervised approach towards automatically extracting video-based guidance on object usage, from egocentric video and wearable gaze tracking, collected from multiple users while performing tasks. The approach i)…

Weakly supervised video anomaly detection aims to identify abnormal events in videos using only video-level labels. Recently, two-stage self-training methods have achieved significant improvements by self-generating pseudo labels and…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

This paper focuses on inverse reinforcement learning for autonomous navigation using distance and semantic category observations. The objective is to infer a cost function that explains demonstrated behavior while relying only on the…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

In egocentric videos, actions occur in quick succession. We capitalise on the action's temporal context and propose a method that learns to attend to surrounding actions in order to improve recognition performance. To incorporate the…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

In this paper we address the problem of automatically discovering atomic actions in unsupervised manner from instructional videos. Instructional videos contain complex activities and are a rich source of information for intelligent agents,…