相关论文: Efficient Training of Generalizable Visuomotor Pol…

Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and…

Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…

Deep learning models tend to memorize training data, which hurts their ability to generalize to under-represented classes. We empirically study a convolutional neural network's internal representation of imbalanced image data and measure…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using reinforcement learning can develop specialist policies that…

The data scarcity problem in emotion recognition from electroencephalography (EEG) leads to difficulty in building an affective model with high accuracy using machine learning algorithms or deep neural networks. Inspired by emerging deep…

Despite the recent progress in speech emotion recognition (SER), state-of-the-art systems lack generalisation across different conditions. A key underlying reason for poor generalisation is the scarcity of emotion datasets, which is a…

Although Vision-Language Models (VLM) have demonstrated impressive planning and reasoning capabilities, translating these abilities into the physical world introduces significant challenges. Conventional Vision-Language-Action (VLA) models,…

Generalizing policies to unseen scenarios remains a critical challenge in visual reinforcement learning, where agents often overfit to the specific visual observations of the training environment. In unseen environments, distracting pixels…

We are concerned with learning models that generalize well to different \emph{unseen} domains. We consider a worst-case formulation over data distributions that are near the source domain in the feature space. Only using training data from…

Despite decades of research on data collection and model architectures, current gaze estimation models encounter significant challenges in generalizing across diverse data domains. Recent advances in self-supervised pre-training have shown…

Data augmentation is widely used to enhance generalization in visual classification tasks. However, traditional methods struggle when source and target domains differ, as in domain adaptation, due to their inability to address domain gaps.…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Due to the realization that deep reinforcement learning algorithms trained on high-dimensional tasks can strongly overfit to their training environments, there have been several studies that investigated the generalization performance of…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. AimBot overlays shooting lines and scope reticles onto…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Visual reinforcement learning (RL), which makes decisions directly from high-dimensional visual inputs, has demonstrated significant potential in various domains. However, deploying visual RL techniques in the real world remains challenging…

Deep neural networks have achieved impressive performance in a wide variety of medical imaging tasks. However, these models often fail on data not used during training, such as data originating from a different medical centre. How to…