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

This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…

Cross-modal knowledge distillation (CMKD) refers to the scenario in which a learning framework must handle training and test data that exhibit a modality mismatch, more precisely, training and test data do not cover the same set of data…

As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks, though effective on specific platforms, require extensive…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Multi-modal affect recognition models leverage complementary information in different modalities to outperform their uni-modal counterparts. However, due to the unavailability of modality-specific sensors or data, multi-modal models may not…

Causal language models have demonstrated remarkable capabilities, but their size poses significant challenges for deployment in resource-constrained environments. Knowledge distillation, a widely-used technique for transferring knowledge…

Multilingual machine translation systems aim to make knowledge accessible across languages, yet learning effective cross-lingual representations remains challenging. These challenges are especially pronounced for low-resource languages,…

Developing robotic technologies for use in human society requires ensuring the safety of robots' navigation behaviors while adhering to pedestrians' expectations and social norms. However, maintaining real-time communication between robots…

We hypothesize that a key bottleneck in generalizable robot manipulation is not solely data scale or policy capacity, but a structural mismatch between current visual backbones and the physical requirements of closed-loop control. While…

Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective model-based RL solutions for vision-based real-world…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

Multimodal fusion leverages information across modalities to learn better feature representations with the goal of improving performance in fusion-based tasks. However, multimodal datasets, especially in medical settings, are typically…

Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…

Deep neural networks are susceptible to adversarially crafted, small and imperceptible changes in the natural inputs. The most effective defense mechanism against these examples is adversarial training which constructs adversarial examples…

Mobile manipulation in dynamic environments is challenging due to movable obstacles blocking the robot's path. Traditional methods, which treat navigation and manipulation as separate tasks, often fail in such 'manipulate-to-navigate'…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

We propose a novel knowledge distillation framework for effectively teaching a sensorimotor student agent to drive from the supervision of a privileged teacher agent. Current distillation for sensorimotor agents methods tend to result in…

This paper addresses the challenges of high computational cost and slow inference in deploying large language models. It proposes a distillation strategy guided by multiple teacher models. The method constructs several teacher models and…