相关论文: Generalizable Imitation Learning Through Pre-Train…

3D object representation learning is a fundamental challenge in computer vision to infer about the 3D world. Recent advances in deep learning have shown their efficiency in 3D object recognition, among which view-based methods have…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

The upsurge in pre-trained large models started by ChatGPT has swept across the entire deep learning community. Such powerful models demonstrate advanced generative ability and multimodal understanding capability, which quickly set new…

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…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…

Despite exciting progress in pre-training for visual-linguistic (VL) representations, very few aspire to a small VL model. In this paper, we study knowledge distillation (KD) to effectively compress a transformer-based large VL model into a…

Recent advances in representation learning have demonstrated an ability to represent information from different modalities such as video, text, and audio in a single high-level embedding vector. In this work we present a self-supervised…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

Learning vector representation for words is an important research field which may benefit many natural language processing tasks. Two limitations exist in nearly all available models, which are the bias caused by the context definition and…

Multi-task learning is a popular machine learning approach that enables simultaneous learning of multiple related tasks, improving algorithmic efficiency and effectiveness. In the hard parameter sharing approach, an encoder shared through…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Developing inherently interpretable models for prediction has gained prominence in recent years. A subclass of these models, wherein the interpretable network relies on learning high-level concepts, are valued because of closeness of…

Models for image representation learning are typically designed for either recognition or generation. Various forms of contrastive learning help models learn to convert images to embeddings that are useful for classification, detection, and…

Measuring concept generalization, i.e., the extent to which models trained on a set of (seen) visual concepts can be leveraged to recognize a new set of (unseen) concepts, is a popular way of evaluating visual representations, especially in…

Recognizing elementary underlying concepts from observations (disentanglement) and generating novel combinations of these concepts (compositional generalization) are fundamental abilities for humans to support rapid knowledge learning and…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…