相关论文: An Investigation into Pre-Training Object-Centric …

Training a deep neural network to maximize a target objective has become the standard recipe for successful machine learning over the last decade. These networks can be optimized with supervised learning, if the target objective is…

Object-centric representations have recently enabled significant progress in tackling relational reasoning tasks. By building a strong object-centric inductive bias into neural architectures, recent efforts have improved generalization and…

Inspired by the success of DeepSeek-R1, we explore the potential of rule-based reinforcement learning (RL) in MLLM post-training for perception policy learning. While promising, our initial experiments reveal that incorporating a thinking…

A central question in robotics is how to design a control system for an agile mobile robot. This paper studies this question systematically, focusing on a challenging setting: autonomous drone racing. We show that a neural network…

Intelligent agents should have the ability to leverage knowledge from previously learned tasks in order to learn new ones quickly and efficiently. Meta-learning approaches have emerged as a popular solution to achieve this. However,…

Despite the broad application of deep reinforcement learning (RL), transferring and adapting the policy to unseen but similar environments is still a significant challenge. Recently, the language-conditioned policy is proposed to facilitate…

The study of object representations in computer vision has primarily focused on developing representations that are useful for image classification, object detection, or semantic segmentation as downstream tasks. In this work we aim to…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Due to recent breakthroughs, reinforcement learning (RL) has demonstrated impressive performance in challenging sequential decision-making problems. However, an open question is how to make RL cope with partial observability which is…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…

Visual commonsense reasoning (VCR) is a challenging multi-modal task, which requires high-level cognition and commonsense reasoning ability about the real world. In recent years, large-scale pre-training approaches have been developed and…

Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast,…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

Supervised (pre-)training currently yields state-of-the-art performance for representation learning for visual recognition, yet it comes at the cost of (1) intensive manual annotations and (2) an inherent restriction in the scope of data…

The objective of this work is to learn an object-centric video representation, with the aim of improving transferability to novel tasks, i.e., tasks different from the pre-training task of action classification. To this end, we introduce a…

Context-based offline meta-reinforcement learning (OMRL) methods have achieved appealing success by leveraging pre-collected offline datasets to develop task representations that guide policy learning. However, current context-based OMRL…

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization,…

Offline Reinforcement Learning (RL) is structured to derive policies from static trajectory data without requiring real-time environment interactions. Recent studies have shown the feasibility of framing offline RL as a sequence modeling…

Recent reinforcement learning (RL) techniques have yielded impressive reasoning improvements in language models, yet it remains unclear whether post-training truly extends a model's reasoning ability beyond what it acquires during…

Human visual reasoning is characterized by an ability to identify abstract patterns from only a small number of examples, and to systematically generalize those patterns to novel inputs. This capacity depends in large part on our ability to…