相关论文: Unsupervised Motion Retargeting for Human-Robot Im…

Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

Generalising deep models to new data from new centres (termed here domains) remains a challenge. This is largely attributed to shifts in data statistics (domain shifts) between source and unseen domains. Recently, gradient-based…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Image alignment across domains has recently become one of the realistic and popular topics in the research community. In this problem, a deep learning-based image alignment method is usually trained on an available largescale database.…

The key challenge of multi-domain translation lies in simultaneously encoding both the general knowledge shared across domains and the particular knowledge distinctive to each domain in a unified model. Previous work shows that the standard…

Image translation with convolutional autoencoders has recently been used as an approach to multimodal change detection in bitemporal satellite images. A main challenge is the alignment of the code spaces by reducing the contribution of…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…

Although deep convolutional networks have achieved great performance in face recognition tasks, the challenge of domain discrepancy still exists in real world applications. Lack of domain coverage of training data (source domain) makes the…

Deep learning has recently been shown to be instrumental in the problem of domain adaptation, where the goal is to learn a model on a target domain using a similar --but not identical-- source domain. The rationale for coupling both…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the input video frames with a deep Convolutional Neural Networks…

The objective of unsupervised domain adaptation is to leverage features from a labeled source domain and learn a classifier for an unlabeled target domain, with a similar but different data distribution. Most deep learning approaches to…

Unsupervised image-to-image translation is used to transform images from a source domain to generate images in a target domain without using source-target image pairs. Promising results have been obtained for this problem in an adversarial…