相关论文: Augmenting Imitation Experience via Equivariant Re…

Self-supervised learning converts raw perceptual data such as images to a compact space where simple Euclidean distances measure meaningful variations in data. In this paper, we extend this formulation by adding additional geometric…

Deep neural networks have emerged as very successful tools for image restoration and reconstruction tasks. These networks are often trained end-to-end to directly reconstruct an image from a noisy or corrupted measurement of that image. To…

The standard approach to tackling computer vision problems is to train deep convolutional neural network (CNN) models using large-scale image datasets which are representative of the target task. However, in many scenarios, it is often…

Self-supervised learning has become a popular approach in recent years for its ability to learn meaningful representations without the need for data annotation. This paper proposes a novel image augmentation technique, overlaying images,…

One of the major challenges of model-free visual tracking problem has been the difficulty originating from the unpredictable and drastic changes in the appearance of objects we target to track. Existing methods tackle this problem by…

Visual error metrics play a fundamental role in the quantification of perceived image similarity. Most recently, use cases for them in real-time applications have emerged, such as content-adaptive shading and shading reuse to increase…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Pretrained representations from large-scale vision models have boosted the performance of downstream embodied policy learning. We look to understand whether additional self-supervised pretraining on exploration trajectories can build on…

In this paper, we explore and compare multiple solutions to the problem of data augmentation in image classification. Previous work has demonstrated the effectiveness of data augmentation through simple techniques, such as cropping,…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks to elucidate basic principles of this sim-and-real cotraining…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Unsupervised node representations learnt using contrastive learning-based methods have shown good performance on downstream tasks. However, these methods rely on augmentations that mimic low-pass filters, limiting their performance on tasks…

Deep learning has been achieving decent performance in computer vision requiring a large volume of images, however, collecting images is expensive and difficult in many scenarios. To alleviate this issue, many image augmentation algorithms…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…