相关论文: Learning Robust Representations via Bidirectional …

Reinforcement Learning (RL) can enable agents to learn complex tasks. However, it is difficult to interpret the knowledge and reuse it across tasks. Inductive biases can address such issues by explicitly providing generic yet useful…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

How do vision transformers (ViTs) represent and process the world? This paper addresses this long-standing question through the first systematic analysis of 6.6K features across all layers, extracted via sparse autoencoders, and by…

Vision Transformers (ViTs) have become prominent models for solving various vision tasks. However, the interpretability of ViTs has not kept pace with their promising performance. While there has been a surge of interest in developing {\it…

Utilizing well-trained representations in transfer learning often results in superior performance and faster convergence compared to training from scratch. However, even if such good representations are transferred, a model can easily…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

With the rapid development of computer vision, Vision Transformers (ViTs) offer the tantalising prospect of unified information processing across visual and textual domains due to the lack of inherent inductive biases in ViTs. ViTs require…

In recent years, Transformer-based architectures have become the dominant method for Computer Vision applications. While Transformers are explainable and scale well with dataset size, they lack the inductive biases of Convolutional Neural…

Designing better deep networks and better reinforcement learning (RL) algorithms are both important for deep RL. This work studies the former. Specifically, the Perception and Decision-making Interleaving Transformer (PDiT) network is…

Human-aligned deep learning models exhibit behaviors consistent with human values, such as robustness, fairness, and honesty. Transferring these behavioral properties to models trained on different tasks or data distributions remains…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Learning effective visual representations for robotic manipulation remains a fundamental challenge due to the complex body dynamics involved in action execution. In this paper, we study how visual representations that carry body-relevant…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Deep reinforcement learning (DRL) agents are often sensitive to visual changes that were unseen in their training environments. To address this problem, we leverage the sequential nature of RL to learn robust representations that encode…

The task of text-video retrieval aims to understand the correspondence between language and vision, has gained increasing attention in recent years. Previous studies either adopt off-the-shelf 2D/3D-CNN and then use average/max pooling to…

We introduce a vision-language foundation model called VL-BEiT, which is a bidirectional multimodal Transformer learned by generative pretraining. Our minimalist solution conducts masked prediction on both monomodal and multimodal data with…

Modern change detection (CD) has achieved remarkable success by the powerful discriminative ability of deep convolutions. However, high-resolution remote sensing CD remains challenging due to the complexity of objects in the scene. Objects…

We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g.,…