相关论文: CAZSL: Zero-Shot Regression for Pushing Models by …

In generalized zero shot learning (GZSL), the set of classes are split into seen and unseen classes, where training relies on the semantic features of the seen and unseen classes and the visual representations of only the seen classes,…

This paper provides a novel parsimonious yet efficient design for zero-shot learning (ZSL), dubbed ParsNets, where we are interested in learning a composition of on-device friendly linear networks, each with orthogonality and low-rankness…

Machine learning models of visual action recognition are typically trained and tested on data from specific situations where actions are associated with certain objects. It is an open question how action-object associations in the training…

We propose a new paradigm for zero-shot learners that is format agnostic, i.e., it is compatible with any format and applicable to a list of language tasks, such as text classification, commonsense reasoning, coreference resolution, and…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Compositional Zero-Shot Learning (CZSL) aims to recognize novel attribute-object compositions based on the knowledge learned from seen ones. Existing methods suffer from performance degradation caused by the distribution shift of label…

To recognize objects of the unseen classes, most existing Zero-Shot Learning(ZSL) methods first learn a compatible projection function between the common semantic space and the visual space based on the data of source seen classes, then…

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

Zero-Shot Learning (ZSL) is an extreme form of transfer learning, where no labelled examples of the data to be classified are provided during the training stage. Instead, ZSL uses additional information learned about the domain, and relies…

Zero-shot coordination (ZSC) is a popular setting for studying the ability of reinforcement learning (RL) agents to coordinate with novel partners. Prior ZSC formulations assume the $\textit{problem setting}$ is common knowledge: each agent…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

This paper investigates a challenging problem of zero-shot learning in the multi-label scenario (MLZSL), wherein the model is trained to recognize multiple unseen classes within a sample (e.g., an image) based on seen classes and auxiliary…

Generalized zero-shot learning (GZSL) focuses on recognizing seen and unseen classes against domain shift problem where data of unseen classes may be misclassified as seen classes. However, existing GZSL is still limited to seen domains. In…

This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…

Compositional zero-shot learning (CZSL) aims to learn the concepts of attributes and objects in seen compositions and to recognize their unseen compositions. Most Contrastive Language-Image Pre-training (CLIP)-based CZSL methods focus on…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…

We introduce a simple yet effective episode-based training framework for zero-shot learning (ZSL), where the learning system requires to recognize unseen classes given only the corresponding class semantics. During training, the model is…