相关论文: Visual Hindsight Self-Imitation Learning for Inter…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Foundation models, especially vision-language models (VLMs), offer compelling zero-shot object detection for applications like autonomous driving, a domain where manual labelling is prohibitively expensive. However, their detection latency…

Tactile perception is essential for real-world manipulation tasks, yet the high cost and fragility of tactile sensors can limit their practicality. In this work, we explore BeadSight (a low-cost, open-source tactile sensor) alongside a…

Solving multi-goal reinforcement learning (RL) problems with sparse rewards is generally challenging. Existing approaches have utilized goal relabeling on collected experiences to alleviate issues raised from sparse rewards. However, these…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

The Visual-and-Language Navigation (VLN) task requires understanding a textual instruction to navigate a natural indoor environment using only visual information. While this is a trivial task for most humans, it is still an open problem for…

Vision-language models (VLMs) have demonstrated impressive zero-shot transfer capabilities in image-level visual perception tasks. However, they fall short in 3D instance-level segmentation tasks that require accurate localization and…

Sparse rewards pose a significant challenge to achieving high sample efficiency in goal-conditioned reinforcement learning (RL). Specifically, in sequential manipulation tasks, the agent receives failure rewards until it successfully…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…

Goal-oriented planning, or anticipating a series of actions that transition an agent from its current state to a predefined objective, is crucial for developing intelligent assistants aiding users in daily procedural tasks. The problem…

Advancing safe autonomous systems through reinforcement learning (RL) requires robust benchmarks to evaluate performance, analyze methods, and assess agent competencies. Humans primarily rely on embodied visual perception to safely navigate…

Visual-Semantic Embedding (VSE) is a prevalent approach in image-text retrieval by learning a joint embedding space between the image and language modalities where semantic similarities would be preserved. The triplet loss with…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Foundation models have advanced computer vision by enabling strong performance across diverse tasks through large-scale pretraining and supervised fine-tuning. However, they may underperform in domains with distribution shifts and scarce…

The planning problem constitutes a fundamental aspect of the autonomous driving framework. Recent strides in representation learning have empowered vehicles to comprehend their surrounding environments, thereby facilitating the integration…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

We introduce S$^2$VS, a video similarity learning approach with self-supervision. Self-Supervised Learning (SSL) is typically used to train deep models on a proxy task so as to have strong transferability on target tasks after fine-tuning.…

Reinforcement learning and planning methods require an objective or reward function that encodes the desired behavior. Yet, in practice, there is a wide range of scenarios where an objective is difficult to provide programmatically, such as…

Visual navigation is often cast as a reinforcement learning (RL) problem. Current methods typically result in a suboptimal policy that learns general obstacle avoidance and search behaviours. For example, in the target-object navigation…