相关论文: Efficient Training of Generalizable Visuomotor Pol…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. Variations in dynamics, degrees of freedom (DoFs), and kinematic topology…

Self-supervised learning and data augmentation have significantly reduced the performance gap between state and image-based reinforcement learning agents in continuous control tasks. However, it is still unclear whether current techniques…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…

Accurate cancer survival prediction requires integration of diverse data modalities that reflect the complex interplay between imaging, clinical parameters, and textual reports. However, existing multimodal approaches suffer from simplistic…

Learning generalizable policies that can adapt to unseen environments remains challenging in visual Reinforcement Learning (RL). Existing approaches try to acquire a robust representation via diversifying the appearances of in-domain…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Data augmentation has proved extremely useful by increasing training data variance to alleviate overfitting and improve deep neural networks' generalization performance. In medical image analysis, a well-designed augmentation policy usually…

Egocentric visual query localization is vital for embodied AI and VR/AR, yet remains challenging due to camera motion, viewpoint changes, and appearance variations. We present EAGLE, a novel framework that leverages episodic appearance- and…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Multi-modal Large Language Models (MLLMs) have advanced greatly in general tasks. However, they still face challenges in geometric reasoning, a task that requires synergistic integration of visual recognition proficiency and complex…

The rapid evolution of egocentric video analysis brings new insights into understanding human activities and intentions from a first-person perspective. Despite this progress, the fragmentation in tasks like action recognition, procedure…

Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…

Unsupervised Domain Adaptation has been an efficient approach to transferring the semantic segmentation model across data distributions. Meanwhile, the recent Open-vocabulary Semantic Scene understanding based on large-scale vision language…

Imitation learning is an effective approach for training game-playing agents and, consequently, for efficient game production. However, generalization - the ability to perform well in related but unseen scenarios - is an essential…

Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly…

Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function as high-level planners, generating intermediate subgoals for…

While Reinforcement Learning (RL) agents can successfully learn to handle complex tasks, effectively generalizing acquired skills to unfamiliar settings remains a challenge. One of the reasons behind this is the visual encoders used are…