相关论文: Robust Navigation with Cross-Modal Fusion and Know…

The burgeoning complexity of contemporary deep learning models, while achieving unparalleled accuracy, has inadvertently introduced deployment challenges in resource-constrained environments. Knowledge distillation, a technique aiming to…

Model distillation is an effective and widely used technique to transfer knowledge from a teacher to a student network. The typical application is to transfer from a powerful large network or ensemble to a small network, that is better…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

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…

This thesis aims to investigate the feasibility of knowledge transfer between neural networks for medical image segmentation tasks, specifically focusing on the transfer from a larger multi-task "Teacher" network to a smaller "Student"…

The social robot navigation is an open and challenging problem. In existing work, separate modules are used to capture spatial and temporal features, respectively. However, such methods lead to extra difficulties in improving the…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Scarcity of parallel sentence-pairs poses a significant hurdle for training high-quality Neural Machine Translation (NMT) models in bilingually low-resource scenarios. A standard approach is transfer learning, which involves taking a model…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Robust embodied navigation relies on complementary sensory cues. However, high-quality and well-aligned multi-modal data is often difficult to obtain in practice. Training a monolithic model is also challenging as rich multi-modal inputs…

Often we wish to transfer representational knowledge from one neural network to another. Examples include distilling a large network into a smaller one, transferring knowledge from one sensory modality to a second, or ensembling a…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

As large language models increasingly mediate firm - customer interactions, firms face a tradeoff: the most capable models perform well but are costly and difficult to control at scale. Existing knowledge distillation methods address this…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

Image fusion aims to blend complementary information from multiple sensing modalities, yet existing approaches remain limited in robustness, adaptability, and controllability. Most current fusion networks are tailored to specific tasks and…

Pedestrian trajectory forecasting is crucial in various applications such as autonomous driving and mobile robot navigation. In such applications, camera-based perception enables the extraction of additional modalities (human pose, text) to…

Knowledge distillation has been used to transfer knowledge learned by a sophisticated model (teacher) to a simpler model (student). This technique is widely used to compress model complexity. However, in most applications the compressed…

Multimodal fusion is crucial in joint decision-making systems for rendering holistic judgments. Since multimodal data changes in open environments, dynamic fusion has emerged and achieved remarkable progress in numerous applications.…