相关论文: SeMAIL: Eliminating Distractors in Visual Imitatio…

Offline reinforcement learning (RL) has attracted much attention due to its ability in learning from static offline datasets and eliminating the need of interacting with the environment. Nevertheless, the success of offline RL relies…

Reinforcement learning algorithms can acquire policies for complex tasks autonomously. However, the number of samples required to learn a diverse set of skills can be prohibitively large. While meta-reinforcement learning methods have…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in Vision Language Models (VLMs) have demonstrated remarkable performance in vision and language…

When applying multi-instance learning (MIL) to make predictions for bags of instances, the prediction accuracy of an instance often depends on not only the instance itself but also its context in the corresponding bag. From the viewpoint of…

This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic…

In zero-shot image retrieval (ZSIR) task, embedding learning becomes more attractive, however, many methods follow the traditional metric learning idea and omit the problems behind zero-shot settings. In this paper, we first emphasize the…

Imitation learning (IL) enables agents to mimic expert behavior without reward signals but faces challenges in cross-domain scenarios with high-dimensional, noisy, and incomplete visual observations. To address this, we propose…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…

Learning to interact with the environment not only empowers the agent with manipulation capability but also generates information to facilitate building of action understanding and imitation capabilities. This seems to be a strategy adopted…

The performance of existing supervised neuron segmentation methods is highly dependent on the number of accurate annotations, especially when applied to large scale electron microscopy (EM) data. By extracting semantic information from…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Though quite challenging, leveraging large-scale unlabeled or partially labeled images in a cost-effective way has increasingly attracted interests for its great importance to computer vision. To tackle this problem, many Active Learning…

We introduce Correspondence-Oriented Imitation Learning (COIL), a conditional policy learning framework for visuomotor control with a flexible task representation in 3D. At the core of our approach, each task is defined by the intended…

Large language models (LLMs) have been significantly improved by instruction fine-tuning, but still lack transparency and the ability to utilize up-to-date knowledge and information. In this work, we propose search-augmented instruction…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Current model-based reinforcement learning methods struggle when operating from complex visual scenes due to their inability to prioritize task-relevant features. To mitigate this problem, we propose learning Task Informed Abstractions…

Improving the reasoning capabilities of large language models (LLMs) typically relies either on the model's ability to sample a correct solution to be reinforced or on the existence of a stronger model able to solve the problem. However,…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…