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

As end-to-end robotic policies are progressively deployed in the real world to solve real tasks, they face a gap between the training and inference conditions. Scaling the amount and diversity of the training data has shown some success in…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

In the robotics literature, experience transfer has been proposed in different learning-based control frameworks to minimize the costs and risks associated with training robots. While various works have shown the feasibility of transferring…

Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…

Multi-task transfer learning based on pre-trained language encoders achieves state-of-the-art performance across a range of tasks. Standard approaches implicitly assume the tasks, for which we have training data, are equally representative…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Machine unlearning aims to eliminate the influence of a subset of training samples (i.e., unlearning samples) from a trained model. Effectively and efficiently removing the unlearning samples without negatively impacting the overall model…

Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real world. In the transfer, most existing approaches need…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

Zero-shot learning transfers knowledge from seen classes to novel unseen classes to reduce human labor of labelling data for building new classifiers. Much effort on zero-shot learning however has focused on the standard multi-class…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

Contrastive learning is a discriminative approach that aims at grouping similar samples closer and diverse samples far from each other. It it an efficient technique to train an encoder generating distinguishable and informative…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

Zero-shot learning, which aims to recognize new categories that are not included in the training set, has gained popularity owing to its potential ability in the real-word applications. Zero-shot learning models rely on learning an…

Object Detection, a fundamental computer vision problem, has paramount importance in smart camera systems. However, a truly reliable camera system could be achieved if and only if the underlying object detection component is robust enough…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…