相关论文: Affordances from Human Videos as a Versatile Repre…

When operating in service of people, robots need to optimize rewards aligned with end-user preferences. Since robots will rely on raw perceptual inputs like RGB images, their rewards will inevitably use visual representations. Recently…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

Recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles are using mediated perception approach for path planning and control, which highly rely on…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

An important current challenge in Human-Robot Interaction (HRI) is to enable robots to learn on-the-fly from human feedback. However, humans show a great variability in the way they reward robots. We propose to address this issue by…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Interactive reinforcement learning (IRL) extends traditional reinforcement learning (RL) by allowing an agent to interact with parent-like trainers during a task. In this paper, we present an IRL approach using dynamic audio-visual input in…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Robots can learn from humans by asking questions. In these questions the robot demonstrates a few different behaviors and asks the human for their favorite. But how should robots choose which questions to ask? Today's robots optimize for…

3D object affordance grounding aims to identify regions on 3D objects that support human-object interaction (HOI), a capability essential to embodied visual reasoning. However, most existing approaches rely on static visual or textual cues,…

We propose a method to learn image representations from uncurated videos. We combine a supervised loss from off-the-shelf object detectors and self-supervised losses which naturally arise from the video-shot-frame-object hierarchy present…

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…