相关论文: Modality-Buffet for Real-Time Object Detection

Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials presents unique challenges due to their high-dimensional…

In modern ML Ops environments, model deployment is a critical process that traditionally relies on static heuristics such as validation error comparisons and A/B testing. However, these methods require human intervention to adapt to…

Multimodal Large Language Models (MLLMs) excel in vision-language reasoning but often struggle with structured perception tasks requiring precise localization and robustness. We propose a reinforcement learning framework that augments Group…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

In this paper, we aim to tackle the task of semi-supervised video object segmentation across a sequence of frames where only the ground-truth segmentation of the first frame is provided. The challenges lie in how to online update the…

We segment moving objects in videos by ranking spatio-temporal segment proposals according to "moving objectness": how likely they are to contain a moving object. In each video frame, we compute segment proposals using multiple…

Moving Object Detection (MOD) is a critical vision task for successfully achieving safe autonomous driving. Despite plausible results of deep learning methods, most existing approaches are only frame-based and may fail to reach reasonable…

We consider the problem of detecting objects, as they come into view, from videos in an online fashion. We provide the first real-time solution that is guaranteed to minimize the delay, i.e., the time between when the object comes in view…

Efficiently tackling multiple tasks within complex environment, such as those found in robot manipulation, remains an ongoing challenge in robotics and an opportunity for data-driven solutions, such as reinforcement learning (RL).…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Reinforcement learning (RL) agents make decisions using nothing but observations from the environment, and consequently, heavily rely on the representations of those observations. Though some recent breakthroughs have used vector-based…

Object-Goal Navigation (ObjectNav) is a critical component toward deploying mobile robots in everyday, uncontrolled environments such as homes, schools, and workplaces. In this context, a robot must locate target objects in previously…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…

Incorporating various modes of information into the machine learning procedure is becoming a new trend. And data from various source can provide more information than single one no matter they are heterogeneous or homogeneous. Existing deep…

Reinforcement Fine-Tuning (RFT) in Large Reasoning Models like OpenAI o1 learns from feedback on its answers, which is especially useful in applications when fine-tuning data is scarce. Recent open-source work like DeepSeek-R1 demonstrates…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Beam management is an important technique to improve signal strength and reduce interference in wireless communication systems. Recently, there has been increasing interest in using diverse sensing modalities for beam management. However,…

Reinforcement learning (RL) agents improve through trial-and-error, but when reward is sparse and the agent cannot discover successful action sequences, learning stagnates. This has been a notable problem in training deep RL agents to…