相关论文: Augmenting Imitation Experience via Equivariant Re…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Data augmentation is a widely used technique and an essential ingredient in the recent advance in self-supervised representation learning. By preserving the similarity between augmented data, the resulting data representation can improve…

Data augmentation is an effective technique for improving the accuracy of modern image classifiers. However, current data augmentation implementations are manually designed. In this paper, we describe a simple procedure called AutoAugment…

Interdisciplinary research is often at the core of scientific progress. This dissertation explores some advantageous synergies between machine learning, cognitive science and neuroscience. In particular, this thesis focuses on vision and…

Representation learning in recent years has been addressed with self-supervised learning methods. The input data is augmented into two distorted views and an encoder learns the representations that are invariant to distortions -- cross-view…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

We address the problem of data augmentation for video action recognition. Standard augmentation strategies in video are hand-designed and sample the space of possible augmented data points either at random, without knowing which augmented…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Data augmentation plays a critical role in generating high-quality positive and negative pairs necessary for effective contrastive learning. However, common practices involve using a single augmentation policy repeatedly to generate…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…

How should we learn visual representations for embodied agents that must see and move? The status quo is tabula rasa in vivo, i.e. learning visual representations from scratch while also learning to move, potentially augmented with…

Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Imitation learning in robotics faces significant challenges in generalization due to the complexity of robotic environments and the high cost of data collection. We introduce RoCoDA, a novel method that unifies the concepts of invariance,…

Data augmentation is practically helpful for visual recognition, especially at the time of data scarcity. However, such success is only limited to quite a few light augmentations (e.g., random crop, flip). Heavy augmentations are either…