相关论文: SENSOR: Imitate Third-Person Expert's Behaviors vi…

In this paper, we study the problem of obtaining a control policy that can mimic and then outperform expert demonstrations in Markov decision processes where the reward function is unknown to the learning agent. One main relevant approach…

Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans…

Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…

Providing expert trajectories in the context of Imitation Learning is often expensive and time-consuming. The goal must therefore be to create algorithms which require as little expert data as possible. In this paper we present an algorithm…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

People interact with the real-world largely dependent on visual signal, which are ubiquitous and illustrate detailed demonstrations. In this paper, we explore utilizing visual signals as a new interface for models to interact with the…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Evidence-based decision-making entails collecting (costly) observations about an underlying phenomenon of interest, and subsequently committing to an (informed) decision on the basis of accumulated evidence. In this setting, active sensing…

Mobile agents that can leverage help from humans can potentially accomplish more complex tasks than they could entirely on their own. We develop "Help, Anna!" (HANNA), an interactive photo-realistic simulator in which an agent fulfills…

Recent advances in Large Language Models (LLMs) and multimodal foundation models have significantly broadened their application in robotics and collaborative systems. However, effective multi-agent interaction necessitates robust…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Interactive video segmentation often requires many user interventions for robust performance in challenging scenarios (e.g., occlusions, object separations, camouflage, etc.). Yet, even state-of-the-art models like SAM2 use corrections only…

This article studies inverse reinforcement learning (IRL) for the stochastic linear-quadratic optimal control problem, where two agents are considered. A learner agent does not know the expert agent's performance cost function, but it…

The task of composed image retrieval (CIR) aims to retrieve images based on the query image and the text describing the users' intent. Existing methods have made great progress with the advanced large vision-language (VL) model in CIR task,…