相关论文: Few-shot Object Grounding and Mapping for Natural …

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…

Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

In this work, we address the problem of few-shot multi-class object counting with point-level annotations. The proposed technique leverages a class agnostic attention mechanism that sequentially attends to objects in the image and extracts…

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…

Dense object tracking, the ability to localize specific object points with pixel-level accuracy, is an important computer vision task with numerous downstream applications in robotics. Existing approaches either compute dense keypoint…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…

The goal of this paper is to perform object detection in satellite imagery with only a few examples, thus enabling users to specify any object class with minimal annotation. To this end, we explore recent methods and ideas from…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

Traditional recognition methods typically require large, artificially-balanced training classes, while few-shot learning methods are tested on artificially small ones. In contrast to both extremes, real world recognition problems exhibit…

Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive for humans to label image patches with physical properties.…

Robots that must operate in novel environments and collaborate with humans must be capable of acquiring new knowledge from human experts during operation. We propose teaching a robot novel objects it has not encountered before by pointing a…