相关论文: Intervention Design for Effective Sim2Real Transfe…

We investigate the efficacy of data augmentations to close the domain gap in spaceborne computer vision, crucial for autonomous operations like on-orbit servicing. As the use of computer vision in space increases, challenges such as hostile…

Data augmentation is one of the most effective techniques for regularizing deep learning models and improving their recognition performance in a variety of tasks and domains. However, this holds for standard in-domain settings, in which the…

Camera localization is a fundamental and crucial problem for many robotic applications. In recent years, using deep-learning for camera-based localization has become a popular research direction. However, they lack robustness to large…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

Continuous appearance shifts such as changes in weather and lighting conditions can impact the performance of deployed machine learning models. While unsupervised domain adaptation aims to address this challenge, current approaches do not…

Current methods based on Neural Radiance Fields fail in the low data limit, particularly when training on incomplete scene data. Prior works augment training data only in next-best-view applications, which lead to hallucinations and model…

Inferring high-dimensional physical states from sparse, ad-hoc sensor arrays is a fundamental challenge across AI for Science and industrial IoT. Standard machine learning architectures struggle in these domains due to irregular,…

A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-tuning to bridge the gap between…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

We consider the problem of generalization in reinforcement learning where visual aspects of the observations might differ, e.g. when there are different backgrounds or change in contrast, brightness, etc. We assume that our agent has access…

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

Data augmentation is widely used in vision to introduce variation and mitigate overfitting, by enabling models to learn invariant properties. However, augmentation only indirectly captures these properties and does not explicitly constrain…

Invariances to translation, rotation and other spatial transformations are a hallmark of the laws of motion, and have widespread use in the natural sciences to reduce the dimensionality of systems of equations. In supervised learning, such…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…