相关论文: Efficient Training of Generalizable Visuomotor Pol…

While agents trained by Reinforcement Learning (RL) can solve increasingly challenging tasks directly from visual observations, generalizing learned skills to novel environments remains very challenging. Extensive use of data augmentation…

In recent years, the Robotics field has initiated several efforts toward building generalist robot policies through large-scale multi-task Behavior Cloning. However, direct deployments of these policies have led to unsatisfactory…

Large and diverse datasets are needed for training generalist robot policies that have potential to control a variety of robot embodiments -- robot arm and gripper combinations -- across diverse tasks and environments. As re-collecting…

Data augmentation reduces the generalization error by forcing a model to learn invariant representations given different transformations of the input image. In computer vision, on top of the standard image processing functions, data…

Generalization in robotic manipulation remains a critical challenge, particularly when scaling to new environments with limited demonstrations. This paper introduces CAGE, a novel robotic manipulation policy designed to overcome these…

Reinforcement learning from large-scale offline datasets provides us with the ability to learn policies without potentially unsafe or impractical exploration. Significant progress has been made in the past few years in dealing with the…

Masked autoencoder (MAE) is a promising self-supervised pre-training technique that can improve the representation learning of a neural network without human intervention. However, applying MAE directly to volumetric medical images poses…

We propose EAGLE update rule, a novel optimization method that accelerates loss convergence during the early stages of training by leveraging both current and previous step parameter and gradient values. The update algorithm estimates…

Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data…

Imitation learning has emerged as a crucial ap proach for acquiring visuomotor skills from demonstrations, where designing effective observation encoders is essential for policy generalization. However, existing methods often struggle to…

Reinforcement learning (RL) agents can learn to solve complex tasks from visual inputs, but generalizing these learned skills to new environments remains a major challenge in RL application, especially robotics. While data augmentation can…

Learning a general motion tracking policy from human motions shows great potential for versatile humanoid whole-body control. Conventional approaches are not only inefficient in data utilization and training processes but also exhibit…

To provide a foundation for the research of deep learning models, the construction of model pool is an essential step. This paper proposes a Training-Free and Efficient Model Generation and Enhancement Scheme (MGE). This scheme primarily…

Visual foresight gives an agent a window into the future, which it can use to anticipate events before they happen and plan strategic behavior. Although impressive results have been achieved on video prediction in constrained settings,…

Convolutional neural networks have been widely applied to medical image segmentation and have achieved considerable performance. However, the performance may be significantly affected by the domain gap between training data (source domain)…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

Recent work has shown that data augmentation has the potential to significantly improve the generalization of deep learning models. Recently, automated augmentation strategies have led to state-of-the-art results in image classification and…

Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly map high-dimensional RGB observations…