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

Few-shot learning aims to recognize novel queries with limited support samples by learning from base knowledge. Recent progress in this setting assumes that the base knowledge and novel query samples are distributed in the same domains,…

Meta-learning stands for 'learning to learn' such that generalization to new tasks is achieved. Among these methods, Gradient-based meta-learning algorithms are a specific sub-class that excel at quick adaptation to new tasks with limited…

Existing meta-learning based few-shot learning (FSL) methods typically adopt an episodic training strategy whereby each episode contains a meta-task. Across episodes, these tasks are sampled randomly and their relationships are ignored. In…

Meta-learning has emerged as a prominent technology for few-shot text classification and has achieved promising performance. However, existing methods often encounter difficulties in drawing accurate class prototypes from support set…

Training deep learning models on embedded devices is typically avoided since this requires more memory, computation and power over inference. In this work, we focus on lowering the amount of memory needed for storing all activations, which…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

Decomposing knowledge into interchangeable pieces promises a generalization advantage when there are changes in distribution. A learning agent interacting with its environment is likely to be faced with situations requiring novel…

Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Domain Adaptation (DA) targets at adapting a model trained over the well-labeled source domain to the unlabeled target domain lying in different distributions. Existing DA normally assumes the well-labeled source domain is class-wise…

Transfer-learning and meta-learning are two effective methods to apply knowledge learned from large data sources to new tasks. In few-class, few-shot target task settings (i.e. when there are only a few classes and training examples…

In this paper, we tackle the new Cross-Domain Few-Shot Learning benchmark proposed by the CVPR 2020 Challenge. To this end, we build upon state-of-the-art methods in domain adaptation and few-shot learning to create a system that can be…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

Meta-learning traditionally relies on backpropagation through entire tasks to iteratively improve a model's learning dynamics. However, this approach is computationally intractable when scaled to complex tasks. We propose a distributed…

Semantic segmentation of crops and weeds is crucial for site-specific farm management; however, most existing methods depend on labor intensive pixel-level annotations. A further challenge arises when models trained on one field (source…

Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…

Affordable 3D scanners often produce sparse and non-uniform point clouds that negatively impact downstream applications in robotic systems. While existing point cloud upsampling architectures have demonstrated promising results on standard…

One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which…

In Information Retrieval, and more generally in Natural Language Processing, adapting models to specific domains is conducted through fine-tuning. Despite the successes achieved by this method and its versatility, the need for human-curated…