相关论文: TAILOR: Teaching with Active and Incremental Learn…

This work describes the development of a robotic system that acquires knowledge incrementally through human interaction where new tools and motions are taught on the fly. The robotic system developed was one of the five finalists in the…

Object detection models shipped with camera-equipped edge devices cannot cover the objects of interest for every user. Therefore, the incremental learning capability is a critical feature for a robust and personalized object detection…

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object…

Continual learning allows a model to learn multiple tasks sequentially while retaining the old knowledge without the training data of the preceding tasks. This paper extends the scope of continual learning research to class-incremental…

In a real-world setting, object instances from new classes can be continuously encountered by object detectors. When existing object detectors are applied to such scenarios, their performance on old classes deteriorates significantly. A few…

Autonomous driving systems require huge amounts of data to train. Manual annotation of this data is time-consuming and prohibitively expensive since it involves human resources. Therefore, active learning emerged as an alternative to ease…

Incremental object detection (IOD) aims to sequentially learn new classes, while maintaining the capability to locate and identify old ones. As the training data arrives with annotations only with new classes, IOD suffers from catastrophic…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Much of the remarkable progress in computer vision has been focused around fully supervised learning mechanisms relying on highly curated datasets for a variety of tasks. In contrast, humans often learn about their world with little to no…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Being inspired by child's learning experience - taught first and followed by observation and questioning, we investigate a critically supervised learning methodology for object detection in this work. Specifically, we propose a…

To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…

Mobile service robots can benefit from object-level understanding of their environments, including the ability to distinguish object instances and re-identify previously seen instances. Object re-identification is challenging across…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Label efficiency has become an increasingly important objective in deep learning applications. Active learning aims to reduce the number of labeled examples needed to train deep networks, but the empirical performance of active learning…

We demonstrate the use of semantic object detections as robust features for Visual Teach and Repeat (VTR). Recent CNN-based object detectors are able to reliably detect objects of tens or hundreds of categories in a video at frame rates. We…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

The field of Continual Learning investigates the ability to learn consecutive tasks without losing performance on those previously learned. Its focus has been mainly on incremental classification tasks. We believe that research in continual…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…