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

We present a new deep learning approach for matching deformable shapes by introducing {\it Shape Deformation Networks} which jointly encode 3D shapes and correspondences. This is achieved by factoring the surface representation into (i) a…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Deep visuomotor policy learning, which aims to map raw visual observation to action, achieves promising results in control tasks such as robotic manipulation and autonomous driving. However, it requires a huge number of online interactions…

Self-supervised learning techniques have shown their abilities to learn meaningful feature representation. This is made possible by training a model on pretext tasks that only requires to find correlations between inputs or parts of inputs.…

Self-supervised speech representation learning has recently been a prosperous research topic. Many algorithms have been proposed for learning useful representations from large-scale unlabeled data, and their applications to a wide range of…

Recently introduced self-supervised methods for image representation learning provide on par or superior results to their fully supervised competitors, yet the corresponding efforts to explain the self-supervised approaches lag behind.…

Finding correspondences between semantically similar points across images and object instances is one of the everlasting challenges in computer vision. While large pre-trained vision models have recently been demonstrated as effective…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

The key challenge in learning dense correspondences lies in the lack of ground-truth matches for real image pairs. While photometric consistency losses provide unsupervised alternatives, they struggle with large appearance changes, which…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

Learning robust and effective representations of visual data is a fundamental task in computer vision. Traditionally, this is achieved by training models with labeled data which can be expensive to obtain. Self-supervised learning attempts…

This paper proposes a simple self-supervised approach for learning a representation for visual correspondence from raw video. We cast correspondence as prediction of links in a space-time graph constructed from video. In this graph, the…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

The immense success of deep learning based methods in computer vision heavily relies on large scale training datasets. These richly annotated datasets help the network learn discriminative visual features. Collecting and annotating such…

We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large…

Imitation learning has emerged as a crucial ap proach for acquiring visuomotor skills from demonstrations, where designing effective observation encoders is essential for policy generalization. However, existing methods often struggle to…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs. However, it's application to visuomotor robotic policy training has been limited…