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

Flexible sensors hold promise for human motion capture (MoCap), offering advantages such as wearability, privacy preservation, and minimal constraints on natural movement. However, existing flexible sensor-based MoCap methods rely on deep…

Few-shot learning aims to generalize to novel classes with only a few samples with class labels. Research in few-shot learning has borrowed techniques from transfer learning, metric learning, meta-learning, and Bayesian methods. These…

We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…

Deep learning has shown great promise in diverse areas of computer vision, such as image classification, object detection and semantic segmentation, among many others. However, as it has been repeatedly demonstrated, deep learning methods…

We study an informative path-planning problem where the goal is to minimize the time required to learn a spatially varying entity. We use Gaussian Process (GP) regression for learning the underlying field. Our goal is to ensure that the GP…

Meta-learning methods perform well on new within-distribution tasks but often fail when adapting to out-of-distribution target tasks, where transfer from source tasks can induce negative transfer. We propose a causally-aware Bayesian…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

Machine learning models are widely regarded as a way forward to tackle multi-query challenges that arise once expensive black-box simulations such as computational fluid dynamics are investigated. However, ensuring the desired level of…

Few-shot segmentation is a challenging dense prediction task, which entails segmenting a novel query image given only a small annotated support set. The key problem is thus to design a method that aggregates detailed information from the…

Multi-output Gaussian process (MGP) has been attracting increasing attention as a transfer learning method to model multiple outputs. Despite its high flexibility and generality, MGP still faces two critical challenges when applied to…

Conventional training of deep neural networks usually requires a substantial amount of data with expensive human annotations. In this paper, we utilize the idea of meta-learning to explain two very different streams of few-shot learning,…

Data-driven deep learning methods have shown great potential in cropland mapping. However, due to multiple factors such as attributes of cropland (topography, climate, crop type) and imaging conditions (viewing angle, illumination, scale),…

We build a theoretical framework for designing and understanding practical meta-learning methods that integrates sophisticated formalizations of task-similarity with the extensive literature on online convex optimization and sequential…

Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on…

Generalisation of deep neural networks becomes vulnerable when distribution shifts are encountered between train (source) and test (target) domain data. Few-shot domain adaptation mitigates this issue by adapting deep neural networks…

In this paper, we introduce a discrete variant of the meta-learning framework. Meta-learning aims at exploiting prior experience and data to improve performance on future tasks. By now, there exist numerous formulations for meta-learning in…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…