相关论文: Visual Backtracking Teleoperation: A Data Collecti…

Vision Transformers (ViTs) have emerged as the backbone of many segmentation models, consistently achieving state-of-the-art (SOTA) performance. However, their success comes at a significant computational cost. Image token pruning is one of…

The virtual try-on system has gained great attention due to its potential to give customers a realistic, personalized product presentation in virtualized settings. In this paper, we present PT-VTON, a novel pose-transfer-based framework for…

Despite the extensive adoption of machine learning on the task of visual object tracking, recent learning-based approaches have largely overlooked the fact that visual tracking is a sequence-level task in its nature; they rely heavily on…

Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…

Pretraining on noisy, internet-scale datasets has been heavily studied as a technique for training models with broad, general capabilities for text, images, and other modalities. However, for many sequential decision domains such as…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

The setup considered in the paper consists of sensors in a Networked Control System that are used to build a digital twin (DT) model of the system dynamics. The focus is on control, scheduling, and resource allocation for sensory…

The successful application of large pre-trained models such as BERT in natural language processing has attracted more attention from researchers. Since the BERT typically acts as an end-to-end black box, classification systems based on it…

Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage.…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment. However, standard offline Supervised…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

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…

Foundation models compress a large amount of information in a single, large neural network, which can then be queried for individual tasks. There are strong parallels between this widespread framework and offline goal-conditioned…

Image retrieval plays an important role in the Internet world. Usually, the core parts of mainstream visual retrieval systems include an online service of the embedding model and a large-scale vector database. For traditional model…

Existing visual change detectors usually adopt CNNs or Transformers for feature representation learning and focus on learning effective representation for the changed regions between images. Although good performance can be obtained by…

Many reinforcement learning algorithms, particularly those that rely on return estimates for policy improvement, can suffer from poor sample efficiency and training instability due to high-variance return estimates. In this paper we…

Offline reinforcement learning algorithms hold the promise of enabling data-driven RL methods that do not require costly or dangerous real-world exploration and benefit from large pre-collected datasets. This in turn can facilitate…

Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments,…