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

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…

A fundamental problem for waveform-agile radar systems is that the true environment is unknown, and transmission policies which perform well for a particular tracking instance may be sub-optimal for another. Additionally, there is a limited…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

Rapidly learning abstract concepts from limited examples is a hallmark of human intelligence. This work investigates whether gradient-based meta-learning can equip neural networks with inductive biases for efficient few-shot acquisition of…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Most existing Grammatical Error Correction (GEC) methods based on sequence-to-sequence mainly focus on how to generate more pseudo data to obtain better performance. Few work addresses few-shot GEC domain adaptation. In this paper, we treat…

Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…

Cross-Domain Few-Shot Learning~(CDFSL) methods typically parameterize models with task-agnostic and task-specific parameters. To adapt task-specific parameters, recent approaches have utilized fixed optimization strategies, despite their…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

We propose a deep learning algorithm for seismic interface and pocket detection with neural networks trained by synthetic high-frequency displacement data efficiently generated by the frozen Gaussian approximation (FGA). In seismic imaging…

Few-shot learning is challenging for learning algorithms that learn each task in isolation and from scratch. In contrast, meta-learning learns from many related tasks a meta-learner that can learn a new task more accurately and faster with…

Meta-learning is a powerful paradigm for few-shot learning. Although with remarkable success witnessed in many applications, the existing optimization based meta-learning models with over-parameterized neural networks have been evidenced to…

Spatial fields in the Earth and environmental sciences are often available at multiple scales or resolutions. While coarse-scale data (e.g., from global circulation models) are often abundant, they lack the local detail provided by…

A commercial robot, trained by its manufacturer to recognize a predefined number and type of objects, might be used in many settings, that will in general differ in their illumination conditions, background, type and degree of clutter, and…

Training a deep neural network requires a large amount of single-task data and involves a long time-consuming optimization phase. This is not scalable to complex, realistic environments with new unexpected changes. Humans can perform fast…

We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation. MiDiGap enables learning from as few as five demonstrations using only…

Meta-learning aims to extract useful inductive biases from a set of related datasets. In Bayesian meta-learning, this is typically achieved by constructing a prior distribution over neural network parameters. However, specifying families of…

Few-shot Learning aims to learn classifiers for new classes with only a few training examples per class. Existing meta-learning or metric-learning based few-shot learning approaches are limited in handling diverse domains with various…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

Few-shot domain adaptation to multiple domains aims to learn a complex image distribution across multiple domains from a few training images. A na\"ive solution here is to train a separate model for each domain using few-shot domain…