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

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…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Simultaneously using multimodal inputs from multiple sensors to train segmentors is intuitively advantageous but practically challenging. A key challenge is unimodal bias, where multimodal segmentors over rely on certain modalities, causing…

Multi-modality image fusion aims to synthesize a single, comprehensive image from multiple source inputs. Traditional approaches, such as CNNs and GANs, offer efficiency but struggle to handle low-quality or complex inputs. Recent advances…

Cross-modal knowledge distillation deals with transferring knowledge from a model trained with superior modalities (Teacher) to another model trained with weak modalities (Student). Existing approaches require paired training examples exist…

Human Activity Recognition is an important task in many human-computer collaborative scenarios, whilst having various practical applications. Although uni-modal approaches have been extensively studied, they suffer from data quality and…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Combined visual and force feedback play an essential role in contact-rich robotic manipulation tasks. Current methods focus on developing the feedback control around a single modality while underrating the synergy of the sensors. Fusing…

Self-supervised speech pre-training enables deep neural network models to capture meaningful and disentangled factors from raw waveform signals. The learned universal speech representations can then be used across numerous downstream tasks.…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…

Developing effective multimodal data fusion strategies has become increasingly essential for improving the predictive power of statistical machine learning methods across a wide range of applications, from autonomous driving to medical…

In recent years, multi-modal fusion has attracted a lot of research interest, both in academia, and in industry. Multimodal fusion entails the combination of information from a set of different types of sensors. Exploiting complementary…

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…

Infrared and visible image fusion plays a critical role in enhancing scene perception by combining complementary information from different modalities. Despite recent advances, achieving high-quality image fusion with lightweight models…

Many problems in science and engineering require making predictions based on few observations. To build a robust predictive model, these sparse data may need to be augmented with simulated data, especially when the design space is…

Knowledge distillation provides an effective way to transfer knowledge via teacher-student learning, where most existing distillation approaches apply a fixed pre-trained model as teacher to supervise the learning of student network. This…