相关论文: Keypoint Action Tokens Enable In-Context Imitation…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

Pre-trained vision-language models, e.g., CLIP, working with manually designed prompts have demonstrated great capacity of transfer learning. Recently, learnable prompts achieve state-of-the-art performance, which however are prone to…

We present the Interactive Task Encoding System (ITES) for teaching robots to perform manipulative tasks. ITES is designed as an input system for the Learning-from-Observation (LfO) framework, which enables household robots to be programmed…

3D automatic annotation has received increased attention since manually annotating 3D point clouds is laborious. However, existing methods are usually complicated, e.g., pipelined training for 3D foreground/background segmentation,…

For specialized and dense downstream tasks such as object detection, labeling data requires expertise and can be very expensive, making few-shot and semi-supervised models much more attractive alternatives. While in the few-shot setup we…

Current text-to-image models struggle to provide precise camera control using natural language alone. In this work, we present a framework for precise camera control with global scene understanding in text-to-image generation by learning…

We present a novel vision Transformer, named TUTOR, which is able to learn tubelet tokens, served as highly-abstracted spatiotemporal representations, for video-based human-object interaction (V-HOI) detection. The tubelet tokens…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…

Learning effective visual representations for robotic manipulation remains a fundamental challenge due to the complex body dynamics involved in action execution. In this paper, we study how visual representations that carry body-relevant…

Self-attention in vision transformers is often thought to perform perceptual grouping where tokens attend to other tokens with similar embeddings, which could correspond to semantically similar features of an object. However, attending to…

Despite the remarkable success of Deep RL in learning control policies from raw pixels, the resulting models do not generalize. We demonstrate that a trained agent fails completely when facing small visual changes, and that…

Vision transformers have established a precedent of patchifying images into uniformly-sized chunks before processing. We hypothesize that this design choice may limit models in learning comprehensive and compositional representations from…

We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data…

Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

We present a cross-modal Transformer-based framework, which jointly encodes video data and text labels for zero-shot action recognition (ZSAR). Our model employs a conceptually new pipeline by which visual representations are learned in…

Tokens or patches within Vision Transformers (ViT) lack essential semantic information, unlike their counterparts in natural language processing (NLP). Typically, ViT tokens are associated with rectangular image patches that lack specific…

CLIP proved that aligning visual and language spaces is key to solving many vision tasks without explicit training, but required to train image and text encoders from scratch on a huge dataset. LiT improved this by only training the text…