相关论文: SCP: Soft Conditional Prompt Learning for Aerial V…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

Imitation learning for robotic grasping is often plagued by the multimodal problem: when a scene contains multiple valid targets, demonstrations of grasping different objects create conflicting training signals. Standard imitation learning…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

Large-scale vision-language models (VLMs), e.g., CLIP, learn broad visual concepts from tedious training data, showing superb generalization ability. Amount of prompt learning methods have been proposed to efficiently adapt the VLMs to…

Pre-trained vision-language models are able to interpret visual concepts and language semantics. Prompt learning, a method of constructing prompts for text encoders or image encoders, elicits the potentials of pre-trained models and readily…

In this paper, we propose Skip-Plan, a condensed action space learning method for procedure planning in instructional videos. Current procedure planning methods all stick to the state-action pair prediction at every timestep and generate…

Today's robots often interface with data-driven perception and planning models with classical model-predictive controllers (MPC). Often, such learned perception/planning models produce erroneous waypoint predictions on out-of-distribution…

Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation. However, current SCR methods often face challenges in…

A key challenge in self-supervised video representation learning is how to effectively capture motion information besides context bias. While most existing works implicitly achieve this with video-specific pretext tasks (e.g., predicting…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…

This letter proposes a novel method for accelerating iterative detection for spatially coupled (SC) systems. An SC system is constructed by one-dimensional coupling of many subsystems, which are classified into training and propagation…

Prompt learning is an effective way to exploit the potential of large-scale pre-trained foundational models. Continuous prompts parameterize context tokens in prompts by turning them into differentiable vectors. Deep continuous prompts…

In this article, we propose a backpropagation-free approach to robotic control through the neuro-cognitive computational framework of neural generative coding (NGC), designing an agent built completely from powerful predictive…

Semantic context is an important and useful cue for scene parsing in complicated natural images with a substantial amount of variations in objects and the environment. This paper proposes Spatially Constrained Location Prior (SCLP) for…

Intelligent agent naturally learns from motion. Various self-supervised algorithms have leveraged motion cues to learn effective visual representations. The hurdle here is that motion is both ambiguous and complex, rendering previous works…