相关论文: Multi-Instance Aware Localization for End-to-End I…

In many practical few-shot learning problems, even though labeled examples are scarce, there are abundant auxiliary datasets that potentially contain useful information. We propose the problem of extended few-shot learning to study these…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Imitation Learning uses the demonstrations of an expert to uncover the optimal policy and it is suitable for real-world robotics tasks as well. In this case, however, the training of the agent is carried out in a simulation environment due…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

We propose a deep network that can be trained to tackle image reconstruction and classification problems that involve detection of multiple object instances, without any supervision regarding their whereabouts. The network learns to extract…

Few-shot learning aims to learn a classifier using a few labelled instances for each class. Metric-learning approaches for few-shot learning embed instances into a high-dimensional space and conduct classification based on distances among…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

Imitation learning has been widely applied to various autonomous systems thanks to recent development in interactive algorithms that address covariate shift and compounding errors induced by traditional approaches like behavior cloning.…

Consider the following problem: given a few demonstrations of a task across a few different objects, how can a robot learn to perform that same task on new, previously unseen objects? This is challenging because the large variety of objects…

Learning good feature embeddings for images often requires substantial training data. As a consequence, in settings where training data is limited (e.g., few-shot and zero-shot learning), we are typically forced to use a generic feature…

Imitation learning trains a policy by mimicking expert demonstrations. Various imitation methods were proposed and empirically evaluated, meanwhile, their theoretical understanding needs further studies. In this paper, we firstly analyze…

Few-shot learning aims to correctly recognize query samples from unseen classes given a limited number of support samples, often by relying on global embeddings of images. In this paper, we propose to equip the backbone network with an…

Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Imitation learning, in which learning is performed by demonstration, has been studied and advanced for sequential decision-making tasks in which a reward function is not predefined. However, imitation learning methods still require numerous…