相关论文: Augmenting Imitation Experience via Equivariant Re…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to…

Recent methods for reinforcement learning from images use auxiliary tasks to learn image features that are used by the agent's policy or Q-function. In particular, methods based on contrastive learning that induce linearity of the latent…

Data augmentation is a critical component of training deep learning models. Although data augmentation has been shown to significantly improve image classification, its potential has not been thoroughly investigated for object detection.…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In…

Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…

In this work, we present a method for obtaining an implicit objective function for vision-based navigation. The proposed methodology relies on Imitation Learning, Model Predictive Control (MPC), and an interpretation technique used in Deep…

A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities. For example, to "go to the nearest chair", the agent might need to identify a chair in a living room using…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real…

Confronting the critical challenge of insufficient training data in the field of complex image recognition, this paper introduces a novel 3D viewpoint augmentation technique specifically tailored for wine label recognition. This method…

Deep networks have been successfully applied to visual tracking by learning a generic representation offline from numerous training images. However the offline training is time-consuming and the learned generic representation may be less…

Vision transformers (ViTs) have demonstrated remarkable performance in a variety of vision tasks. Despite their promising capabilities, training a ViT requires a large amount of diverse data. Several studies empirically found that using…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Robotics applications in urban environments are subject to obstacles that exhibit specular reflections hampering autonomous navigation. On the other hand, these reflections are highly polarized and this extra information can successfully be…

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Recent research in language-guided visual navigation has demonstrated a significant demand for the diversity of traversable environments and the quantity of supervision for training generalizable agents. To tackle the common data scarcity…