相关论文: Tracking Object Positions in Reinforcement Learnin…

We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation,…

The study of object representations in computer vision has primarily focused on developing representations that are useful for image classification, object detection, or semantic segmentation as downstream tasks. In this work we aim to…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

In this paper we propose Structuring AutoEncoders (SAE). SAEs are neural networks which learn a low dimensional representation of data which are additionally enriched with a desired structure in this low dimensional space. While traditional…

While reinforcement learning (RL) methods that learn an internal model of the environment have the potential to be more sample efficient than their model-free counterparts, learning to model raw observations from high dimensional sensors…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Manipulating objects is a hallmark of human intelligence, and an important task in domains such as robotics. In principle, Reinforcement Learning (RL) offers a general approach to learn object manipulation. In practice, however, domains…

Recent advances in reinforcement learning (RL) have delivered strong reasoning capabilities in natural image domains, yet their potential for Earth Observation (EO) remains largely unexplored. EO tasks introduce unique challenges, spanning…

The success of Reinforcement Learning (RL) heavily relies on the ability to learn robust representations from the observations of the environment. In most cases, the representations learned purely by the reinforcement learning loss can…

Reinforcement learning (RL) suffers from low sample efficiency, particularly in high-dimensional continuous state-action spaces of complex robotic manipulation tasks. RL performance can improve by leveraging prior knowledge, even when…

Knowledge about the locations of keypoints of an object in an image can assist in fine-grained classification and identification tasks, particularly for the case of objects that exhibit large variations in poses that greatly influence their…

Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes exploration and constraint satisfaction…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Sparse autoencoders (SAEs) are a popular method for interpreting concepts represented in large language model (LLM) activations. However, there is a lack of evidence regarding the validity of their interpretations due to the lack of a…

Learning embeddings that are invariant to the pose of the object is crucial in visual image retrieval and re-identification. The existing approaches for person, vehicle, or animal re-identification tasks suffer from high intra-class…

As sensor networks for health monitoring become more prevalent, so will the need to control their usage and consumption of energy. This paper presents a method which leverages the algorithm's performance and energy consumption. By utilising…

Supervised fine-tuning methods (SFT) perform great efficiency on artificial intelligence interpretation in SAR images, leveraging the powerful representation knowledge from pre-training models. Due to the lack of domain-specific pre-trained…

Reinforcement learning (RL) has achieved remarkable success in real-world decision-making across diverse domains, including gaming, robotics, online advertising, public health, and natural language processing. Despite these advances, a…