相关论文: Compositional Servoing by Recombining Demonstratio…

Hybrid systems are a compact and natural mechanism with which to address problems in robotics. This work introduces an approach to learning hybrid systems from demonstrations, with an emphasis on extracting models that are explicitly…

Deep Learning has made a great progress for these years. However, it is still difficult to master the implement of various models because different researchers may release their code based on different frameworks or interfaces. In this…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Representation learning on graphs has been gaining attention due to its wide applicability in predicting missing links, and classifying and recommending nodes. Most embedding methods aim to preserve certain properties of the original graph…

Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

The computation of distance measures between nodes in graphs is inefficient and does not scale to large graphs. We explore dense vector representations as an effective way to approximate the same information: we introduce a simple yet…

Consider a Machine Learning Service Provider (MLSP) designed to rapidly create highly accurate learners for a never-ending stream of new tasks. The challenge is to produce task-specific learners that can be trained from few labeled samples,…

Visual analytics have played an increasingly critical role in the Internet of Things, where massive visual signals have to be compressed and fed into machines. But facing such big data and constrained bandwidth capacity, existing…

The human ability to synchronize the feedback from all their senses inspired recent works in multi-task and multi-modal learning. While these works rely on expensive supervision, our multi-task graph requires only pseudo-labels from expert…

Graph-based and sequential methods are two popular recommendation paradigms, each excelling in its domain but lacking the ability to leverage signals from the other. To address this, we propose a novel method that integrates both approaches…

Visual Question answering is a challenging problem requiring a combination of concepts from Computer Vision and Natural Language Processing. Most existing approaches use a two streams strategy, computing image and question features that are…

In computer vision tasks, features often come from diverse representations, domains (e.g., indoor and outdoor), and modalities (e.g., text, images, and videos). Effectively fusing these features is essential for robust performance,…

Based on the concept that ventral visual stream (VVS) mainly functions for object recognition, current unsupervised task-driven methods model VVS by contrastive learning, and have achieved good brain similarity. However, we believe…

Ensuring validation for highly automated driving poses significant obstacles to the widespread adoption of highly automated vehicles. Scenario-based testing offers a potential solution by reducing the homologation effort required for these…

We develop an approach to learning visual representations that embraces multimodal data, driven by a combination of intra- and inter-modal similarity preservation objectives. Unlike existing visual pre-training methods, which solve a proxy…

We study the problem of representational transfer in RL, where an agent first pretrains in a number of source tasks to discover a shared representation, which is subsequently used to learn a good policy in a \emph{target task}. We propose a…

The explosion of data available in life sciences is fueling an increasing demand for expressive models and computational methods. Graph transformation is a model for dynamic systems with a large variety of applications. We introduce a novel…

This paper presents a framework for learning visual representations from unlabeled video demonstrations captured from multiple viewpoints. We show that these representations are applicable for imitating several robotic tasks, including pick…