相关论文: RIO: Rotation-equivariance supervised learning of …

Since distribution shifts are likely to occur during test-time and can drastically decrease the model's performance, online test-time adaptation (TTA) continues to update the model after deployment, leveraging the current test data.…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

Incorporating equivariance as an inductive bias into deep learning architectures to take advantage of the data symmetry has been successful in multiple applications, such as chemistry and dynamical systems. In particular, roto-translations…

The main challenge in domain generalization (DG) is to handle the distribution shift problem that lies between the training and test data. Recent studies suggest that test-time training (TTT), which adapts the learned model with test data,…

Temporal difference (TD) learning is a foundational algorithm in reinforcement learning (RL). For nearly forty years, TD learning has served as a workhorse for applied RL as well as a building block for more complex and specialized…

In this paper, we propose Test-Time Training, a general approach for improving the performance of predictive models when training and test data come from different distributions. We turn a single unlabeled test sample into a self-supervised…

Robot-assisted endovascular intervention offers a safe and effective solution for remote catheter manipulation, reducing radiation exposure while enabling precise navigation. Reinforcement learning (RL) has recently emerged as a promising…

We introduce XIRVIO, a transformer-based Generative Adversarial Network (GAN) framework for monocular visual inertial odometry (VIO). By taking sequences of images and 6-DoF inertial measurements as inputs, XIRVIO's generator predicts pose…

Label-scarce, high-dimensional domains such as healthcare present a challenge for modern machine learning techniques. To overcome the difficulties posed by a lack of labeled data, we explore an "order-contrastive" method for self-supervised…

Visual-inertial odometry (VIO) is an important technology for autonomous robots with power and payload constraints. In this paper, we propose a novel approach for VIO with stereo cameras which integrates and calibrates the velocity-control…

Traditional test-time training (TTT) methods, while addressing domain shifts, often assume a consistent class set, limiting their applicability in real-world scenarios characterized by infinite variety. Open-World Test-Time Training (OWTTT)…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

Instruction tuning of language models has demonstrated the ability to enhance model generalization to unseen tasks via in-context learning using a few examples. However, typical supervised learning still requires a plethora of downstream…

Current and future high-contrast imaging instruments require extreme adaptive optics (XAO) systems to reach contrasts necessary to directly image exoplanets. Telescope vibrations and the temporal error induced by the latency of the control…

The emerging field of action prediction plays a vital role in various computer vision applications such as autonomous driving, activity analysis and human-computer interaction. Despite significant advancements, accurately predicting future…

Pretrained models from self-supervision are prevalently used in fine-tuning downstream tasks faster or for better accuracy. However, gaining robustness from pretraining is left unexplored. We introduce adversarial training into…

We present a self-supervised approach for learning video representations using temporal video alignment as a pretext task, while exploiting both frame-level and video-level information. We leverage a novel combination of temporal alignment…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Deploying models on target domain data subject to distribution shift requires adaptation. Test-time training (TTT) emerges as a solution to this adaptation under a realistic scenario where access to full source domain data is not available,…

Amortized Bayesian inference (ABI) with neural networks can solve probabilistic inverse problems orders of magnitude faster than classical methods. However, ABI is not yet sufficiently robust for widespread and safe application. When…