相关论文: Learning Visual-Audio Representations for Voice-Co…

We introduce a novel self-supervised pretext task for learning representations from audio-visual content. Prior work on audio-visual representation learning leverages correspondences at the video level. Approaches based on audio-visual…

In this paper, we present a state-of-the-art reinforcement learning method for autonomous driving. Our approach employs temporal difference learning in a Bayesian framework to learn vehicle control signals from sensor data. The agent has…

Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…

Training robot manipulation policies is a challenging and open problem in robotics and artificial intelligence. In this paper we propose a novel and compact state representation based on the rewards predicted from an image-based task…

Pre-trained vision-language models learn massive data to model unified representations of images and natural languages, which can be widely applied to downstream machine learning tasks. In addition to zero-shot inference, in order to better…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling…

Recent advances in deep learning have achieved promising performance for medical image analysis, while in most cases ground-truth annotations from human experts are necessary to train the deep model. In practice, such annotations are…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

We present a new method to learn video representations from large-scale unlabeled video data. Ideally, this representation will be generic and transferable, directly usable for new tasks such as action recognition and zero or few-shot…

Our goal is to enable robots to perform functional tasks in emotive ways, be it in response to their users' emotional states, or expressive of their confidence levels. Prior work has proposed learning independent cost functions from user…

We present a new method to learn video representations from unlabeled data. Given large-scale unlabeled video data, the objective is to benefit from such data by learning a generic and transferable representation space that can be directly…

Offline reinforcement learning (RL) provides a powerful framework for training robotic agents using pre-collected, suboptimal datasets, eliminating the need for costly, time-consuming, and potentially hazardous online interactions. This is…

Weakly supervised Audio-Visual Video Parsing (AVVP) aims to recognize and temporally localize audio, visual, and audio-visual events in videos using only coarse-grained labels. Faced with the challenging task settings, existing research…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

We propose a framework to learn semantics from raw audio signals using two types of representations, encoding contextual and phonetic information respectively. Specifically, we introduce a speech-to-unit processing pipeline that captures…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Reward function specification, which requires considerable human effort and iteration, remains a major impediment for learning behaviors through deep reinforcement learning. In contrast, providing visual demonstrations of desired behaviors…

Pool-based sampling in active learning (AL) represents a key framework for an-notating informative data when dealing with deep learning models. In this paper, we present a novel pipeline for pool-based Active Learning. Unlike most previous…