相关论文: Learning Robust Representations via Bidirectional …

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…

This paper introduces a novel method for self-supervised video representation learning via feature prediction. In contrast to the previous methods that focus on future feature prediction, we argue that a supervisory signal arising from…

This paper investigates two techniques for developing efficient self-supervised vision transformers (EsViT) for visual representation learning. First, we show through a comprehensive empirical study that multi-stage architectures with…

A fundamental challenge in artificial intelligence is learning useful representations of data that yield good performance on a downstream task, without overfitting to spurious input features. Extracting such task-relevant predictive…

Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Learning efficient and expressive visual representation has long been the pursuit of computer vision research. While Vision Transformers (ViTs) gradually replace traditional Convolutional Neural Networks (CNNs) as more scalable vision…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Learning good representations of historical contexts is one of the core challenges of reinforcement learning (RL) in partially observable environments. While self-predictive auxiliary tasks have been shown to improve performance in fully…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Conventional wisdom suggests that pre-training Vision Transformers (ViT) improves downstream performance by learning useful representations. Is this actually true? We investigate this question and find that the features and representations…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and…

Humans learn powerful representations of objects and scenes by observing how they evolve over time. Yet, outside of specific tasks that require explicit temporal understanding, static image pretraining remains the dominant paradigm for…

Today, the acquisition of various behavioral log data has enabled deeper understanding of customer preferences and future behaviors in the marketing field. In particular, multimodal deep learning has achieved highly accurate predictions by…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

An open challenge in reinforcement learning (RL) is the effective deployment of a trained policy to new or slightly different situations as well as semantically-similar environments. We introduce Symmetry-Invariant Transformer (SiT), a…

The recent rise of generative artificial intelligence (AI), powered by Transformer networks, has achieved remarkable success in natural language processing, computer vision, and graphics. However, the application of Transformers in…

We introduce a self-supervised vision representation model BEiT, which stands for Bidirectional Encoder representation from Image Transformers. Following BERT developed in the natural language processing area, we propose a masked image…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…