相关论文: Multi-View Masked World Models for Visual Robotic …

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Recent work in vision-and-language pretraining has investigated supervised signals from object detection data to learn better, fine-grained multimodal representations. In this work, we take a step further and explore how we can tap into…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

We propose a visual-linguistic representation learning approach within a self-supervised learning framework by introducing a new operation, loss, and data augmentation strategy. First, we generate diverse features for the image-text…

As the deep learning revolution marches on, self-supervised learning has garnered increasing attention in recent years thanks to its remarkable representation learning ability and the low dependence on labeled data. Among these varied…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

We present a convolutional autoencoder that enables high fidelity volumetric reconstructions of human performance to be captured from multi-view video comprising only a small set of camera views. Our method yields similar end-to-end…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…

The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, the hardware cost and design constraints in real-world scenarios can potentially make it…

This paper introduces a new approach for quickly adapting a multi-view visuomotor system for robots to varying camera configurations from the baseline setup. It utilises meta-learning to fine-tune the perceptual network while keeping the…

Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminate the need for environment instrumentation by building an…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Deep neural networks are capable of learning powerful representations to tackle complex vision tasks but expose undesirable properties like the over-fitting issue. To this end, regularization techniques like image augmentation are necessary…

Integrating information from multiple modalities is arguably one of the essential prerequisites for grounding artificial intelligence systems with an understanding of the real world. Recent advances in video transformers that jointly learn…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Masked Autoencoder (MAE) is a notable method for self-supervised pretraining in visual representation learning. It operates by randomly masking image patches and reconstructing these masked patches using the unmasked ones. A key limitation…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…