相关论文: Deep Imitation Learning of Sequential Fabric Smoot…

Imitation learning considerably simplifies policy synthesis compared to alternative approaches by exploiting access to expert demonstrations. For such imitation policies, errors away from the training samples are particularly critical. Even…

Physics-guided deep learning (PG-DL) via algorithm unrolling has received significant interest for improved image reconstruction, including MRI applications. These methods unroll an iterative optimization algorithm into a series of…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…

This paper explores a novel approach to model strategies for flattening wrinkled cloth learning from humans. A human participant study was conducted where the participants were presented with various wrinkle types and tasked with flattening…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

In this paper we explore using self-supervised correspondence for improving the generalization performance and sample efficiency of visuomotor policy learning. Prior work has primarily used approaches such as autoencoding, pose-based…

Deep reinforcement learning is an effective tool to learn robot control policies from scratch. However, these methods are notorious for the enormous amount of required training data which is prohibitively expensive to collect on real…

This paper aims to evaluate the suitability of current deep learning methods for clinical workflow especially by focusing on dermatology. Although deep learning methods have been attempted to get dermatologist level accuracy in several…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…

Tactile sensing or fabric hand plays a critical role in an individual's decision to buy a certain fabric from the range of available fabrics for a desired application. Therefore, textile and clothing manufacturers have long been in search…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

Recent advances in robot imitation learning have yielded powerful visuomotor policies capable of manipulating a wide variety of objects directly from monocular visual inputs. However, monocular observations inherently lack reliable depth…