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

Increasingly many real world tasks involve data in multiple modalities or views. This has motivated the development of many effective algorithms for learning a common latent space to relate multiple domains. However, most existing…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

Motion planning with constraints is an important part of many real-world robotic systems. In this work, we study manifold learning methods to learn such constraints from data. We explore two methods for learning implicit constraint…

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

Generative model-based motion prediction techniques have recently realized predicting controlled human motions, such as predicting multiple upper human body motions with similar lower-body motions. However, to achieve this, the…

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 True{\AE}dapt, a model-free method to learn online adaptations of robot trajectories based on their effects on the environment. Given sensory feedback and future waypoints of the original trajectory, a neural network is trained…

The training of many existing end-to-end steering angle prediction models heavily relies on steering angles as the supervisory signal. Without learning from much richer contexts, these methods are susceptible to the presence of sharp road…

Memory-based approaches have shown strong performance in Continual Relation Extraction (CRE). However, storing examples from previous tasks increases memory usage and raises privacy concerns. Recently, prompt-based methods have emerged as a…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

In this paper, we describe our winning approach to solving the Lane Following Challenge at the AI Driving Olympics Competition through imitation learning on a mixed set of simulation and real-world data. AI Driving Olympics is a two-stage…

Multiple modalities often co-occur when describing natural phenomena. Learning a joint representation of these modalities should yield deeper and more useful representations. Previous generative approaches to multi-modal input either do not…

Detecting anomalies for multivariate time-series without manual supervision continues a challenging problem due to the increased scale of dimensions and complexity of today's IT monitoring systems. Recent progress of unsupervised…

As more and more robots are envisioned to cooperate with humans sharing the same space, it is desired for robots to be able to predict others' trajectories to navigate in a safe and self-explanatory way. We propose a Convolutional Neural…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Robots are used for collecting samples from natural environments to create models of, for example, temperature or algae fields in the ocean. Adaptive informative sampling is a proven technique for this kind of spatial field modeling. This…

Bilingual Word Embeddings (BWEs) are one of the cornerstones of cross-lingual transfer of NLP models. They can be built using only monolingual corpora without supervision leading to numerous works focusing on unsupervised BWEs. However,…

We present an extension to masked autoencoders (MAE) which improves on the representations learnt by the model by explicitly encouraging the learning of higher scene-level features. We do this by: (i) the introduction of a perceptual…

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must plan the sequence of base poses for grasping all objects,…