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

The ability to discover optimal behaviour from fixed data sets has the potential to transfer the successes of reinforcement learning (RL) to domains where data collection is acutely problematic. In this offline setting, a key challenge is…

In this paper, we aim to improve the performance of a deep learning model towards image classification tasks, proposing a novel anchor-based training methodology, named \textit{Online Anchor-based Training} (OAT). The OAT method, guided by…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…

Most offline reinforcement learning (RL) algorithms return a target policy maximizing a trade-off between (1) the expected performance gain over the behavior policy that collected the dataset, and (2) the risk stemming from the…

Limited labeled data makes it hard to train models from scratch in medical domain, and an important paradigm is pre-training and then fine-tuning. Large pre-trained models contain rich representations, which can be adapted to downstream…

In this paper, we propose a visual tracker based on a metric-weighted linear representation of appearance. In order to capture the interdependence of different feature dimensions, we develop two online distance metric learning methods using…

Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language…

With the advancement of large-scale language modeling techniques, large multimodal models combining visual encoders with large language models have demonstrated exceptional performance in various visual tasks. Most of the current…

The introduction of robust backbones, such as Vision Transformers, has improved the performance of object tracking algorithms in recent years. However, these state-of-the-art trackers are computationally expensive since they have a large…

Reducing the data footprint of visual content via image compression is essential to reduce storage requirements, but also to reduce the bandwidth and latency requirements for transmission. In particular, the use of compressed images allows…

Language models (LMs) pretrained on a large text corpus and fine-tuned on a downstream text corpus and fine-tuned on a downstream task becomes a de facto training strategy for several natural language processing (NLP) tasks. Recently, an…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Vision Transformers (ViT) have recently demonstrated the significant potential of transformer architectures for computer vision. To what extent can image-based deep reinforcement learning also benefit from ViT architectures, as compared to…

Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…

Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…