相关论文: Compositional Servoing by Recombining Demonstratio…

We study the problem of generalizable task learning from human demonstration videos without extra training on the robot or pre-recorded robot motions. Given a set of human demonstration videos showing a task with different objects/tools…

Multiple supervised learning scenarios are composed by a sequence of classification tasks. For instance, multi-task learning and continual learning aim to learn a sequence of tasks that is either fixed or grows over time. Existing…

In human learning, it is common to use multiple sources of information jointly. However, most existing feature learning approaches learn from only a single task. In this paper, we propose a novel multi-task deep network to learn…

In this paper, we propose a new representation for multiview image sets. Our approach relies on graphs to describe geometry information in a compact and controllable way. The links of the graph connect pixels in different images and…

In-context learning has shown great success in i.i.d semantic parsing splits, where the training and test sets are drawn from the same distribution. In this setup, models are typically prompted with demonstrations that are similar to the…

We present a semi-supervised learning framework based on graph embeddings. Given a graph between instances, we train an embedding for each instance to jointly predict the class label and the neighborhood context in the graph. We develop…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

In this paper, we argue that iterative computation with diffusion models offers a powerful paradigm for not only generation but also visual perception tasks. We unify tasks such as depth estimation, optical flow, and amodal segmentation…

Transferring representation for multitask imitation learning has the potential to provide improved sample efficiency on learning new tasks, when compared to learning from scratch. In this work, we provide a statistical guarantee indicating…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Graph convolutional networks have been successful in addressing graph-based tasks such as semi-supervised node classification. Existing methods use a network structure defined by the user based on experimentation with fixed number of layers…

In this work, we investigate the potential of improving multi-task training and also leveraging it for transferring in the reinforcement learning setting. We identify several challenges towards this goal and propose a transferring approach…

We investigate graph representation learning approaches that enable models to generalize across graphs: given a model trained using the representations from one graph, our goal is to apply inference using those same model parameters when…

We propose a concise representation of videos that encode perceptually meaningful features into graphs. With this representation, we aim to leverage the large amount of redundancies in videos and save computations. First, we construct…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Visualizations are frequently used as a means to understand trends and gather insights from datasets, but often take a long time to generate. In this paper, we focus on the problem of rapidly generating approximate visualizations while…

Graph representation learning has become a hot research topic due to its powerful nonlinear fitting capability in extracting representative node embeddings. However, for sequential data such as speech signals, most traditional methods…

Self-supervised learning is a powerful paradigm for representation learning on unlabelled images. A wealth of effective new methods based on instance matching rely on data-augmentation to drive learning, and these have reached a rough…

Graph-based methods have been demonstrated as one of the most effective approaches for semi-supervised learning, as they can exploit the connectivity patterns between labeled and unlabeled data samples to improve learning performance.…

Link prediction and node classification are two important downstream tasks of network representation learning. Existing methods have achieved acceptable results but they perform these two tasks separately, which requires a lot of…