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

Realizing active visual tracking with a single unified model across diverse robots is challenging, as the physical constraints and motion dynamics vary drastically from one platform to another. Existing approaches typically train separate…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…

Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We…

We present our latest research in learning deep sensorimotor policies for agile, vision-based quadrotor flight. We show methodologies for the successful transfer of such policies from simulation to the real world. In addition, we discuss…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Recent self-supervised contrastive methods have been able to produce impressive transferable visual representations by learning to be invariant to different data augmentations. However, these methods implicitly assume a particular set of…

This paper considers contrastive training for cross-modal 0-shot transfer wherein a pre-trained model in one modality is used for representation learning in another domain using pairwise data. The learnt models in the latter domain can then…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

Learning adaptive visuomotor policies for embodied agents remains a formidable challenge, particularly when facing cross-embodiment variations such as diverse sensor configurations and dynamic properties. Conventional learning approaches…

Contrastively trained vision-language models have achieved remarkable progress in vision and language representation learning, leading to state-of-the-art models for various downstream multimodal tasks. However, recent research has…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Zero-shot classification of image scenes which can recognize the image scenes that are not seen in the training stage holds great promise of lowering the dependence on large numbers of labeled samples. To address the zero-shot image scene…