相关论文: Semantic Curiosity for Active Visual Learning

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Exploration is a prerequisite for learning useful behaviors in sparse-reward, long-horizon tasks, particularly within 3D environments. Curiosity-driven reinforcement learning addresses this via intrinsic rewards derived from the mismatch…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Active learning identifies data points to label that are expected to be the most useful in improving a supervised model. Opportunistic active learning incorporates active learning into interactive tasks that constrain possible queries…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

Reinforcement Learning (RL) can enable agents to learn complex tasks. However, it is difficult to interpret the knowledge and reuse it across tasks. Inductive biases can address such issues by explicitly providing generic yet useful…

Semantic novelty detection aims at discovering unknown categories in the test data. This task is particularly relevant in safety-critical applications, such as autonomous driving or healthcare, where it is crucial to recognize unknown…

Exploration is a difficult challenge in reinforcement learning and even recent state-of-the art curiosity-based methods rely on the simple epsilon-greedy strategy to generate novelty. We argue that pure random walks do not succeed to…

In an open-world setting, it is inevitable that an intelligent agent (e.g., a robot) will encounter visual objects, attributes or relationships it does not recognize. In this work, we develop an agent empowered with visual curiosity, i.e.…

Learning requires both study and curiosity. A good learner is not only good at extracting information from the data given to it, but also skilled at finding the right new information to learn from. This is especially true when a human…

Object navigation is defined as navigating to an object of a given label in a complex, unexplored environment. In its general form, this problem poses several challenges for Robotics: semantic exploration of unknown environments in search…

Reinforcement Learning enables to train an agent via interaction with the environment. However, in the majority of real-world scenarios, the extrinsic feedback is sparse or not sufficient, thus intrinsic reward formulations are needed to…

In this paper we present a novel method for a naive agent to detect novel objects it encounters in an interaction. We train a reinforcement learning policy on a stacking task given a known object type, and then observe the results of the…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…