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

Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and…

Image-to-image translation models transfer images from input domain to output domain in an endeavor to retain the original content of the image. Contrastive Unpaired Translation is one of the existing methods for solving such problems.…

Transferring knowledge from task-agnostic pre-trained deep models for downstream tasks is an important topic in computer vision research. Along with the growth of computational capacity, we now have open-source vision-language pre-trained…

Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing models rely on causal attention, which we find suboptimal for…

Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodiment knowledge transfer. In this work, we focus on accelerating…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Deep Reinforcement Learning (RL) models often fail to generalize when even small changes occur in the environment's observations or task requirements. Addressing these shifts typically requires costly retraining, limiting the reusability of…

In image-to-image translation, each patch in the output should reflect the content of the corresponding patch in the input, independent of domain. We propose a straightforward method for doing so -- maximizing mutual information between the…

People interact with the real-world largely dependent on visual signal, which are ubiquitous and illustrate detailed demonstrations. In this paper, we explore utilizing visual signals as a new interface for models to interact with the…

Contrastive, self-supervised learning of object representations recently emerged as an attractive alternative to reconstruction-based training. Prior approaches focus on contrasting individual object representations (slots) against one…

Visual domain gaps often impact object detection performance. Image-to-image translation can mitigate this effect, where contrastive approaches enable learning of the image-to-image mapping under unsupervised regimes. However, existing…

Modeling the world can benefit robot learning by providing a rich training signal for shaping an agent's latent state space. However, learning world models in unconstrained environments over high-dimensional observation spaces such as…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…