相关论文: Contrastive Learning for Enhancing Robust Scene Tr…

Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly map high-dimensional RGB observations…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Reinforcement learning has produced remarkable advances in humanoid locomotion, yet a fundamental dilemma persists for real-world deployment: policies must choose between the robustness of reactive proprioceptive control or the proactivity…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Multi-modal learning has become increasingly popular due to its ability to leverage information from different data sources (e.g., text and images) to improve the model performance. Recently, CLIP has emerged as an effective approach that…

Zero-shot learning methods typically assume that the new, unseen classes encountered during deployment come from the same distribution as the the classes in the training set. However, real-world scenarios often involve class distribution…

Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

In this work, we propose a zero-shot learning method to effectively model knowledge transfer between classes via jointly learning visually consistent word vectors and label embedding model in an end-to-end manner. The main idea is to…

Tremendous progress has been made in visual representation learning, notably with the recent success of self-supervised contrastive learning methods. Supervised contrastive learning has also been shown to outperform its cross-entropy…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

Forklifts are used extensively in various industrial settings and are in high demand for automation. In particular, counterbalance forklifts are highly versatile and employed in diverse scenarios. However, efforts to automate these…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Humans perceive the world through multiple senses, enabling them to create a comprehensive representation of their surroundings and to generalize information across domains. For instance, when a textual description of a scene is given,…

UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…

Modern autonomous navigation systems predominantly rely on lidar and depth cameras. However, a fundamental question remains: Can flying robots navigate in clutter using solely monocular RGB images? Given the prohibitive costs of real-world…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Image-to-image translation is a fundamental task in computer vision. It transforms images from one domain to images in another domain so that they have particular domain-specific characteristics. Most prior works train a generative model to…