相关论文: Learn to Grasp with Less Supervision: A Data-Effic…

Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely due to the scale of the datasets both in…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

Continual self-supervised learning (CSSL) methods have gained increasing attention in remote sensing (RS) due to their capability to learn new tasks sequentially from continuous streams of unlabeled data. Existing CSSL methods, while…

State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to label errors in this data, typically resulting in large efforts and costs and therefore…

Supervised object detection has been proven to be successful in many benchmark datasets achieving human-level performances. However, acquiring a large amount of labeled image samples for supervised detection training is tedious,…

Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

Recently, label distribution learning (LDL) has drawn much attention in machine learning, where LDL model is learned from labelel instances. Different from single-label and multi-label annotations, label distributions describe the instance…

Due to the existence of label noise in web images and the high memorization capacity of deep neural networks, training deep fine-grained (FG) models directly through web images tends to have an inferior recognition ability. In the…

Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common sense physical reasoning and code-writing abilities to…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

This work proposes a hybrid unsupervised and supervised learning method to pre-train models applied in Earth observation downstream tasks when only a handful of labels denoting very general semantic concepts are available. We combine a…

How can we subsample graph data so that a graph neural network (GNN) trained on the subsample achieves performance comparable to training on the full dataset? This question is of fundamental interest, as smaller datasets reduce labeling…

Unlike in language or vision, one of the fundamental challenges in robot learning is the lack of access to vast data resources. We can further break down the problem into (1) data sparsity from the angle of data representation and (2) data…

The main goal of network pruning is imposing sparsity on the neural network by increasing the number of parameters with zero value in order to reduce the architecture size and the computational speedup. In most of the previous research…

Efficient continual learning techniques have been a topic of significant research over the last few years. A fundamental problem with such learning is severe degradation of performance on previously learned tasks, known also as catastrophic…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Few-shot learning (FSL) techniques seek to learn the underlying patterns in data using fewer samples, analogous to how humans learn from limited experience. In this limited-data scenario, the challenges associated with deep neural networks,…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…