相关论文: Prototypical context-aware dynamics generalization…

Change captioning generates descriptions that explicitly describe the differences between two visually similar images. Existing methods operate on static image pairs, thus ignoring the rich temporal dynamics of the change procedure, which…

Existing research studies on vision and language grounding for robot navigation focus on improving model-free deep reinforcement learning (DRL) models in synthetic environments. However, model-free DRL models do not consider the dynamics in…

This work aims to improve generalization and interpretability of dynamical systems by recovering the underlying lower-dimensional latent states and their time evolutions. Previous work on disentangled representation learning within the…

Large collections of coupled, heterogeneous agents can manifest complex dynamical behavior presenting difficulties for simulation and analysis. However, if the collective dynamics lie on a low-dimensional manifold then the original…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

Pretrained visual-language models have extensive world knowledge and are widely used in visual and language navigation (VLN). However, they are not sensitive to indoor scenarios for VLN tasks. Another challenge for VLN is how the agent…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

In this work, we present an in-context policy adaptation (ICPAD) framework designed for long-horizon multi-task environments, exploring diffusion-based skill learning techniques in cross-domain settings. The framework enables rapid…

We propose a novel inherently interpretable machine learning method that bases decisions on few relevant examples that we call prototypes. Our method, ProtoAttend, can be integrated into a wide range of neural network architectures…

Neural-network-based approaches recently emerged in the field of data compression and have already led to significant progress in image compression, especially in achieving a higher compression ratio. In the lossless image compression…

End-to-end autonomous driving seeks to solve the perception, decision, and control problems in an integrated way, which can be easier to generalize at scale and be more adapting to new scenarios. However, high costs and risks make it very…

Large pre-trained vision-language models, such as CLIP, have shown remarkable generalization capabilities across various tasks when appropriate text prompts are provided. However, adapting these models to specific domains, like remote…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Model-based reinforcement learning methods typically learn models for high-dimensional state spaces by aiming to reconstruct and predict the original observations. However, drawing inspiration from model-free reinforcement learning, we…

Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging. As context length increases, training becomes increasingly…

Learning representations that generalize across tasks and domains is challenging yet necessary for autonomous systems. Although task-driven approaches are appealing, designing models specific to each application can be difficult in the face…

In a dynamic network, the neighborhood of the vertices evolve across different temporal snapshots of the network. Accurate modeling of this temporal evolution can help solve complex tasks involving real-life social and interaction networks.…

While model-based deep reinforcement learning (RL) holds great promise for sample efficiency and generalization, learning an accurate dynamics model is often challenging and requires substantial interaction with the environment. A wide…

Learning an effective speaker representation is crucial for achieving reliable performance in speaker verification tasks. Speech signals are high-dimensional, long, and variable-length sequences containing diverse information at each…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…