相关论文: Meta Learning for Multi-View Visuomotor Systems

Meta learning aims at learning how to solve tasks, and thus it allows to estimate models that can be quickly adapted to new scenarios. This work explores distributionally robust minimization in meta learning for system identification.…

While deep learning has achieved phenomenal successes in many AI applications, its enormous model size and intensive computation requirements pose a formidable challenge to the deployment in resource-limited nodes. There has recently been…

The goal of meta-learning is to generalize to new tasks and goals as quickly as possible. Ideally, we would like approaches that generalize to new goals and tasks on the first attempt. Toward that end, we introduce contextual planning…

Meta-learning stands for 'learning to learn' such that generalization to new tasks is achieved. Among these methods, Gradient-based meta-learning algorithms are a specific sub-class that excel at quick adaptation to new tasks with limited…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Multilingual pre-trained contextual embedding models (Devlin et al., 2019) have achieved impressive performance on zero-shot cross-lingual transfer tasks. Finding the most effective fine-tuning strategy to fine-tune these models on…

3D scene reconstruction from multiple views is an important classical problem in computer vision. Deep learning based approaches have recently demonstrated impressive reconstruction results. When training such models, self-supervised…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

In few-shot learning, classifiers are expected to generalize to unseen classes given only a small number of instances of each new class. One of the popular solutions to few-shot learning is metric-based meta-learning. However, it highly…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Multi-modal machine translation aims at translating the source sentence into a different language in the presence of the paired image. Previous work suggests that additional visual information only provides dispensable help to translation,…

Convolutional Neural Networks (CNNs) have been successfully applied for relative camera pose estimation from labeled image-pair data, without requiring any hand-engineered features, camera intrinsic parameters or depth information. The…

Few-shot learning is the process of learning novel classes using only a few examples and it remains a challenging task in machine learning. Many sophisticated few-shot learning algorithms have been proposed based on the notion that networks…

Contemporary Vision-Language Models (VLMs) achieve strong performance on a wide range of tasks by pairing a vision encoder with a pre-trained language model, fine-tuned for visual-text inputs. Yet despite these gains, it remains unclear how…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

Recent work has shown the efficiency of deep learning models such as Fully Convolutional Networks (FCN) or Recurrent Neural Networks (RNN) to deal with Time Series Regression (TSR) problems. These models sometimes need a lot of data to be…

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…

The use of self-supervised pre-training has emerged as a promising approach to enhance the performance of many different visual tasks. In this context, recent approaches have employed the Masked Image Modeling paradigm, which pre-trains a…

Most uses of machine learning today involve training a model from scratch for a particular task, or sometimes starting with a model pretrained on a related task and then fine-tuning on a downstream task. Both approaches offer limited…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…