相关论文: Self-Supervised Correspondence in Visuomotor Polic…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

We study how to transfer representations pretrained on source tasks to target tasks in visual percept based RL. We analyze two popular approaches: freezing or finetuning the pretrained representations. Empirical studies on a set of popular…

Self-supervised learning can significantly improve the performance of downstream tasks, however, the dimensions of learned representations normally lack explicit physical meanings. In this work, we propose a novel self-supervised approach…

Self-supervised learning of convolutional neural networks can harness large amounts of cheap unlabeled data to train powerful feature representations. As surrogate task, we jointly address ordering of visual data in the spatial and temporal…

In most real world scenarios, a policy trained by reinforcement learning in one environment needs to be deployed in another, potentially quite different environment. However, generalization across different environments is known to be hard.…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Research in child development has shown that embodied experience handling physical objects contributes to many cognitive abilities, including visual learning. One characteristic of such experience is that the learner sees the same object…

End-to-end visuomotor policies trained using behavior cloning have shown a remarkable ability to generate complex, multi-modal low-level robot behaviors. However, at deployment time, these policies still struggle to act reliably when faced…

Learning dense correspondences across deformable 3D shapes remains a long-standing challenge due to structural variability, non-isometric deformation, and inconsistent topology. Existing methods typically trade off generalization, geometric…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

This paper presents a self-supervised method for learning reliable visual correspondence from unlabeled videos. We formulate the correspondence as finding paths in a joint space-time graph, where nodes are grid patches sampled from frames,…

Witnessing the impressive achievements of pre-training techniques on large-scale data in the field of computer vision and natural language processing, we wonder whether this idea could be adapted in a grab-and-go spirit, and mitigate the…

Video provides us with the spatio-temporal consistency needed for visual learning. Recent approaches have utilized this signal to learn correspondence estimation from close-by frame pairs. However, by only relying on close-by frame pairs,…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

The success of deep learning in computer vision is rooted in the ability of deep networks to scale up model complexity as demanded by challenging visual tasks. As complexity is increased, so is the need for large amounts of labeled data to…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…