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Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

We propose a multi-time-scale predictive representation learning method to efficiently learn robust driving policies in an offline manner that generalize well to novel road geometries, and damaged and distracting lane conditions which are…

Meta-learning, or learning-to-learn, seeks to design algorithms that can utilize previous experience to rapidly learn new skills or adapt to new environments. Representation learning -- a key tool for performing meta-learning -- learns a…

Recent works have demonstrated that transformer can achieve promising performance in computer vision, by exploiting the relationship among image patches with self-attention. While they only consider the attention in a single feature layer,…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

Embodied AI agents require a fine-grained understanding of the physical world mediated through visual and language inputs. Such capabilities are difficult to learn solely from task-specific data. This has led to the emergence of pre-trained…

This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…

Although convolutional neural networks (CNNs) showed remarkable results in many vision tasks, they are still strained by simple yet challenging visual reasoning problems. Inspired by the recent success of the Transformer network in computer…

The Vision Transformer (ViT) architecture has become widely recognized in computer vision, leveraging its self-attention mechanism to achieve remarkable success across various tasks. Despite its strengths, ViT's optimization remains…

Recent advances of Transformers have brought new trust to computer vision tasks. However, on small dataset, Transformers is hard to train and has lower performance than convolutional neural networks. We make vision transformers as…

Learning long-term dynamics models is the key to understanding physical common sense. Most existing approaches on learning dynamics from visual input sidestep long-term predictions by resorting to rapid re-planning with short-term models.…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

This paper studies the BERT pretraining of video transformers. It is a straightforward but worth-studying extension given the recent success from BERT pretraining of image transformers. We introduce BEVT which decouples video representation…

Operator learning, which aims to approximate maps between infinite-dimensional function spaces, is an important area in scientific machine learning with applications across various physical domains. Here we introduce the Continuous Vision…

Scene-aware Complementary Item Retrieval (CIR) is a challenging task which requires to generate a set of compatible items across domains. Due to the subjectivity, it is difficult to set up a rigorous standard for both data collection and…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Vision transformers have attracted much attention from computer vision researchers as they are not restricted to the spatial inductive bias of ConvNets. However, although Transformer-based backbones have achieved much progress on ImageNet…