相关论文: Few-shot Adaptation for Manipulating Granular Mate…

Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Earth. To tackle this challenge, this paper studies the few-shot…

Extraterrestrial autonomous lander missions increasingly demand adaptive capabilities to handle the unpredictable and diverse nature of the terrain. This paper discusses the deployment of a Deep Meta-Learning with Controlled Deployment Gaps…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Gradient-based meta-learning techniques aim to distill useful prior knowledge from a set of training tasks such that new tasks can be learned more efficiently with gradient descent. While these methods have achieved successes in various…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…

Meta-learning methods have been extensively studied and applied in computer vision, especially for few-shot classification tasks. The key idea of meta-learning for few-shot classification is to mimic the few-shot situations faced at test…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

We propose a few-shot learning method for spatial regression. Although Gaussian processes (GPs) have been successfully used for spatial regression, they require many observations in the target task to achieve a high predictive performance.…

Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and excessive clutter. Keypoint-based visual navigation has been…

In task-based few-shot learning paradigms, it is commonly assumed that different tasks are independently and identically distributed (i.i.d.). However, in real-world scenarios, the distribution encountered in few-shot learning can…

Collecting operationally realistic data to inform machine learning models can be costly. Before collecting new data, it is helpful to understand where a model is deficient. For example, object detectors trained on images of rare objects may…

This paper addresses the problem of fast learning of radar detectors with a limited amount of training data. In current data-driven approaches for radar detection, re-training is generally required when the operating environment changes,…

This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…

Fine-grained action detection is an important task with numerous applications in robotics and human-computer interaction. Existing methods typically utilize a two-stage approach including extraction of local spatio-temporal features…

Recent advances in the field of meta-learning have tackled domains consisting of large numbers of small ("few-shot") supervised learning tasks. Meta-learning algorithms must be able to rapidly adapt to any individual few-shot task, fitting…

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…

Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…

Meta-learning has emerged as a trending technique to tackle few-shot text classification and achieved state-of-the-art performance. However, existing solutions heavily rely on the exploitation of lexical features and their distributional…