相关论文: Self-Supervised Sim-to-Real Adaptation for Visual …

A common practice in unsupervised representation learning is to use labeled data to evaluate the quality of the learned representations. This supervised evaluation is then used to guide critical aspects of the training process such as…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

In reinforcement learning (RL), value-based algorithms learn to associate each observation with the states and rewards that are likely to be reached from it. We observe that many self-supervised image pre-training methods bear similarity to…

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

Despite the recent success of deep reinforcement learning (RL), domain adaptation remains an open problem. Although the generalization ability of RL agents is critical for the real-world applicability of Deep RL, zero-shot policy transfer…

Controlling artificial agents from visual sensory data is an arduous task. Reinforcement learning (RL) algorithms can succeed but require large amounts of interactions between the agent and the environment. To alleviate the issue,…

Robotic tasks such as manipulation with visual inputs require image features that capture the physical properties of the scene, e.g., the position and configuration of objects. Recently, it has been suggested to learn such features in an…

Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real world. In the transfer, most existing approaches need…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Unsupervised reinforcement learning aims to acquire skills without prior goal representations, where an agent automatically explores an open-ended environment to represent goals and learn the goal-conditioned policy. However, this procedure…

We present a technique to improve the transferability of deep representations learned on small labeled datasets by introducing self-supervised tasks as auxiliary loss functions. While recent approaches for self-supervised learning have…

Time-series representation learning can extract representations from data with temporal dynamics and sparse labels. When labeled data are sparse but unlabeled data are abundant, contrastive learning, i.e., a framework to learn a latent…

Unsupervised Domain Adaptation for semantic segmentation has gained immense popularity since it can transfer knowledge from simulation to real (Sim2Real) by largely cutting out the laborious per pixel labeling efforts at real. In this work,…

We present a new method to learn video representations from large-scale unlabeled video data. Ideally, this representation will be generic and transferable, directly usable for new tasks such as action recognition and zero or few-shot…

Real-world robotics problems often occur in domains that differ significantly from the robot's prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…