相关论文: The Surprising Effectiveness of Representation Lea…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

We propose an approach to self-supervised representation learning based on maximizing mutual information between features extracted from multiple views of a shared context. For example, one could produce multiple views of a local…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels. We first train the visual representations by masked modeling of natural images. We then freeze the…

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…

This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…

Although an object may appear in numerous contexts, we often describe it in a limited number of ways. Language allows us to abstract away visual variation to represent and communicate concepts. Building on this intuition, we propose an…

Variational Autoencoders for multimodal data hold promise for many tasks in data analysis, such as representation learning, conditional generation, and imputation. Current architectures either share the encoder output, decoder input, or…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

We study how representation learning can accelerate reinforcement learning from rich observations, such as images, without relying either on domain knowledge or pixel-reconstruction. Our goal is to learn representations that both provide…

Multimodality Representation Learning, as a technique of learning to embed information from different modalities and their correlations, has achieved remarkable success on a variety of applications, such as Visual Question Answering (VQA),…

Visual representation learning is ubiquitous in various real-world applications, including visual comprehension, video understanding, multi-modal analysis, human-computer interaction, and urban computing. Due to the emergence of huge…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

An effective technique for obtaining high-quality representations is adding a projection head on top of the encoder during training, then discarding it and using the pre-projection representations. Despite its proven practical…