相关论文: Skeletal Feature Compensation for Imitation Learni…

We propose a way to learn visual features that are compatible with previously computed ones even when they have different dimensions and are learned via different neural network architectures and loss functions. Compatible means that, if…

In recent years, self-supervised representation learning for skeleton-based action recognition has been developed with the advance of contrastive learning methods. The existing contrastive learning methods use normal augmentations to…

Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motion. Previous efforts in representation learning do not…

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

Masked Image Modeling (MIM) is a promising self-supervised learning approach that enables learning from unlabeled images. Despite its recent success, learning good representations through MIM remains challenging because it requires…

Resource-constrained robotic platforms are particularly useful for tasks that require low-cost hardware alternatives due to the risk of losing the robot, like in search-and-rescue applications, or the need for a large number of devices,…

Masked Image Modeling (MIM) is a technique in self-supervised learning that focuses on acquiring detailed visual representations from unlabeled images by estimating the missing pixels in randomly masked sections. It has proven to be a…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Modern recommendation systems rely on real-valued embeddings of categorical features. Increasing the dimension of embedding vectors improves model accuracy but comes at a high cost to model size. We introduce a multi-layer embedding…

Although data is abundant, data labeling is expensive. Semi-supervised learning methods combine a few labeled samples with a large corpus of unlabeled data to effectively train models. This paper introduces our proposed method LiDAM, a…

Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…

Multimodal demonstrations provide robots with an abundance of information to make sense of the world. However, such abundance may not always lead to good performance when it comes to learning sensorimotor control policies from human…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

Self-supervised learning (SSL) has shown remarkable success in skeleton-based action recognition by leveraging data augmentations to learn meaningful representations. However, existing SSL methods rely on data augmentations that…

Modern pose estimation models are trained on large, manually-labelled datasets which are costly and may not cover the full extent of human poses and appearances in the real world. With advances in neural rendering, analysis-by-synthesis and…

A common assumption in multimodal learning is the completeness of training data, i.e., full modalities are available in all training examples. Although there exists research endeavor in developing novel methods to tackle the incompleteness…

We present Submatrix-wise Vector Embedding Learner (Swivel), a method for generating low-dimensional feature embeddings from a feature co-occurrence matrix. Swivel performs approximate factorization of the point-wise mutual information…

Imitation learning is an approach in which an agent learns how to execute a task by trying to mimic how one or more teachers perform it. This learning approach offers a compromise between the time it takes to learn a new task and the effort…