相关论文: Waypoint-Based Imitation Learning for Robotic Mani…

The aim of this work is to use Variational Autoencoder (VAE) to learn a representation of an indoor environment that can be used for robot navigation. We use images extracted from a video, in which a camera takes a tour around a house, for…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Multiple Object Tracking (MOT) has rapidly progressed in recent years. Existing works tend to design a single tracking algorithm to perform both detection and association. Though ensemble learning has been exploited in many tasks, i.e,…

Online continual learning aims to learn from a non-IID stream of data from a number of different tasks, where the learner is only allowed to consider data once. Methods are typically allowed to use a limited buffer to store some of the…

Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a…

Autoencoders, as a dimensionality reduction technique, have been recently applied to outlier detection. However, neural networks are known to be vulnerable to overfitting, and therefore have limited potential in the unsupervised outlier…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Learning actions that are relevant to decision-making and can be executed effectively is a key problem in autonomous robotics. Current state-of-the-art action representations in robotics lack proper effect-driven learning of the robot's…

The task of human pose estimation (HPE) deals with the ill-posed problem of estimating the 3D position of human joints directly from images and videos. In recent literature, most of the works tackle the problem mostly by using convolutional…

Robotic manipulation continues to be a challenge, and imitation learning (IL) enables robots to learn tasks from expert demonstrations. Current IL methods typically rely on fixed camera setups, where cameras are manually positioned in…

Masked image modeling is a promising self-supervised learning method for visual data. It is typically built upon image patches with random masks, which largely ignores the variation of information density between them. The question is: Is…

Unsupervised representation learning holds the promise of exploiting large amounts of unlabeled data to learn general representations. A promising technique for unsupervised learning is the framework of Variational Auto-encoders (VAEs).…

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…

Humans demonstrate a variety of interesting behavioral characteristics when performing tasks, such as selecting between seemingly equivalent optimal actions, performing recovery actions when deviating from the optimal trajectory, or…

Many speech processing tasks involve measuring the acoustic similarity between speech segments. Acoustic word embeddings (AWE) allow for efficient comparisons by mapping speech segments of arbitrary duration to fixed-dimensional vectors.…

Robots that can execute various tasks automatically on behalf of humans are becoming an increasingly important focus of research in the field of robotics. Imitation learning has been studied as an efficient and high-performance method, and…

As discussed in previous studies, the efficacy of evolutionary or reinforcement learning algorithms for continuous control optimization can be enhanced by including a neural module dedicated to feature extraction trained through…

We consider the problem of leveraging prior experience to generate roadmaps in sampling-based motion planning. A desirable roadmap is one that is sparse, allowing for fast search, with nodes spread out at key locations such that a low-cost…