相关论文: Learning to See before Learning to Act: Visual Pre…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

Early in development, infants learn to extract surprisingly complex aspects of visual scenes. This early learning comes together with an initial understanding of the extracted concepts, such as their implications, causality, and using them…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

This work introduces a model that can recognize objects in images even if no training data is available for the objects. The only necessary knowledge about the unseen categories comes from unsupervised large text corpora. In our zero-shot…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

We propose Neural Priming, a technique for adapting large pretrained models to distribution shifts and downstream tasks given few or no labeled examples. Presented with class names or unlabeled test samples, Neural Priming enables the model…

For robots to follow instructions from people, they must be able to connect the rich semantic information in human vocabulary, e.g. "can you get me the pink stuffed whale?" to their sensory observations and actions. This brings up a notably…

Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Exploration in novel settings can be challenging without prior experience in similar domains. However, humans are able to build on prior experience quickly and efficiently. Children exhibit this behavior when playing with toys. For example,…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…