相关论文: Cross-domain Random Pre-training with Prototypes f…

Unsupervised cross-domain image retrieval (UCIR) aims to retrieve images sharing the same category across diverse domains without relying on labeled data. Prior approaches have typically decomposed the UCIR problem into two distinct tasks:…

Progress in deep learning highlights the tremendous potential of utilizing diverse robotic datasets for attaining effective generalization and makes it enticing to consider leveraging broad datasets for attaining robust generalization in…

Unsupervised domain adaptation (UDA) aims to learn transferable representation across domains. Recently a few UDA works have successfully applied Transformer-based methods and achieved state-of-the-art (SOTA) results. However, it remains…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

Recent advances in learning reusable motion priors have demonstrated their effectiveness in generating naturalistic behaviors. In this paper, we propose a new learning framework in this paradigm for controlling physics-based characters with…

Contrastive reinforcement learning (CRL) learns goal-conditioned Q-values through a contrastive objective over state-action and goal representations, removing the need for hand-crafted reward functions. Despite impressive success in…

In reinforcement learning (RL), value-based algorithms learn to associate each observation with the states and rewards that are likely to be reached from it. We observe that many self-supervised image pre-training methods bear similarity to…

We study the problem of unsupervised domain adaptive re-identification (re-ID) which is an active topic in computer vision but lacks a theoretical foundation. We first extend existing unsupervised domain adaptive classification theories to…

We present CrissCross, a self-supervised framework for learning audio-visual representations. A novel notion is introduced in our framework whereby in addition to learning the intra-modal and standard 'synchronous' cross-modal relations,…

Pre-trained Vision-language (VL) models, such as CLIP, have shown significant generalization ability to downstream tasks, even with minimal fine-tuning. While prompt learning has emerged as an effective strategy to adapt pre-trained VL…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

In safe reinforcement learning (SRL) problems, an agent explores the environment to maximize an expected total reward and meanwhile avoids violation of certain constraints on a number of expected total costs. In general, such SRL problems…

Post-training has significantly enhanced the reasoning capability of Large Reasoning Models (LRMs), especially with Reinforcement Learning (RL) like Group Relative Policy Optimization (GRPO). However, GRPO-style RL methods in multi-domain…

This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadrotor. The learning objective is to simultaneously stabilize…

Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control methods often require carefully designed reference trajectories,…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Self-supervised learning has demonstrated considerable potential in hyperspectral representation, yet its application in cross-domain transfer scenarios remains under-explored. Existing methods, however, still rely on source domain…

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…

Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…