相关论文: Robot Program Parameter Inference via Differentiab…

Shadows are a prevalent problem in remote sensing imagery (RSI), degrading visual quality and severely limiting the performance of downstream tasks like object detection and semantic segmentation. Most prior works treat shadow detection and…

Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

Recovering shadows is an important step for many vision algorithms. Current approaches that work with time-lapse sequences are limited to simple thresholding heuristics. We show these approaches only work with very careful tuning of…

Supervised dimensionality reduction strategies have been of great interest. However, current supervised dimensionality reduction approaches are difficult to scale for situations characterized by large datasets given the high computational…

Conformal prediction is a framework for predictive inference with a distribution-free, finite-sample guarantee. However, it tends to provide uninformative prediction sets when calibration data are scarce. This paper introduces…

Leveraging deep learning (DL)-based code analysis tools to solve software engineering tasks is becoming increasingly popular. Code models often suffer performance degradation due to various reasons (e.g., code data shifts). Retraining is…

Prediction-Powered Inference (PPI) is a recently proposed statistical inference technique for parameter estimation that leverages pseudo-labels on both labeled and unlabeled data to construct an unbiased, low-variance estimator. In this…

Many computational problems involve solving a linear system of equations, although only a subset of the entries of the solution are needed. In inverse problems, where the goal is to estimate unknown parameters from indirect noisy…

Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…

Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) control, a framework that integrates online…

Adaptive sparse coding methods learn a possibly overcomplete set of basis functions, such that natural image patches can be reconstructed by linearly combining a small subset of these bases. The applicability of these methods to visual…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Recently, the enactment of privacy regulations has promoted the rise of the machine unlearning paradigm. Existing studies of machine unlearning mainly focus on sample-wise unlearning, such that a learnt model will not expose user's privacy…

Batch Reinforcement Learning (Batch RL) consists in training a policy using trajectories collected with another policy, called the behavioural policy. Safe policy improvement (SPI) provides guarantees with high probability that the trained…

Sim-to-real discrepancies hinder learning-based policies from achieving high-precision tasks in the real world. While Domain Randomization (DR) is commonly used to bridge this gap, it often relies on heuristics and can lead to overly…

As humanoid robots transition from labs to real-world environments, it is essential to democratize robot control for non-expert users. Recent human-robot imitation algorithms focus on following a reference human motion with high precision,…

This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…

This paper presents a technical approach to robot learning of motor skills which combines active intrinsically motivated learning with imitation learning. Our architecture, called SGIM-D, allows efficient learning of high-dimensional…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…