相关论文: Multi-View Dreaming: Multi-View World Model with C…

The present paper proposes a novel reinforcement learning method with world models, DreamingV2, a collaborative extension of DreamerV2 and Dreaming. DreamerV2 is a cutting-edge model-based reinforcement learning from pixels that uses…

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…

Multi-view representation learning has developed rapidly over the past decades and has been applied in many fields. However, most previous works assumed that each view is complete and aligned. This leads to an inevitable deterioration in…

Humans leverage rich internal models of the world to reason about the future, imagine counterfactuals, and adapt flexibly to new situations. In Reinforcement Learning (RL), world models aim to capture how the environment evolves in response…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Visual robotic manipulation research and applications often use multiple cameras, or views, to better perceive the world. How else can we utilize the richness of multi-view data? In this paper, we investigate how to learn good…

Contrastive learning is a discriminative approach that aims at grouping similar samples closer and diverse samples far from each other. It it an efficient technique to train an encoder generating distinguishable and informative…

Contrastive learning methods have been applied to a range of domains and modalities by training models to identify similar "views" of data points. However, specialized scientific modalities pose a challenge for this paradigm, as identifying…

In this work, we present Curled-Dreamer, a novel reinforcement learning algorithm that integrates contrastive learning into the DreamerV3 framework to enhance performance in visual reinforcement learning tasks. By incorporating the…

Clustering multi-view data has been a fundamental research topic in the computer vision community. It has been shown that a better accuracy can be achieved by integrating information of all the views than just using one view individually.…

Multi-view representation learning is essential for many multi-view tasks, such as clustering and classification. However, there are two challenging problems plaguing the community: i)how to learn robust multi-view representation from mass…

The performance of image-based Reinforcement Learning (RL) agents can vary depending on the position of the camera used to capture the images. Training on multiple cameras simultaneously, including a first-person egocentric camera, can…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

Many real-world applications involve data from multiple modalities and thus exhibit the view heterogeneity. For example, user modeling on social media might leverage both the topology of the underlying social network and the content of the…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

In this paper we present a world model, which learns causal features using the invariance principle. In particular, we use contrastive unsupervised learning to learn the invariant causal features, which enforces invariance across…

Recently, multi-view learning (MVL) has garnered significant attention due to its ability to fuse discriminative information from multiple views. However, real-world multi-view datasets are often heterogeneous and imperfect, which usually…

Contrastive learning is a well-established paradigm in representation learning. The standard framework of contrastive learning minimizes the distance between "similar" instances and maximizes the distance between dissimilar ones in the…

The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new…