相关论文: Multi-view Disentanglement for Reinforcement Learn…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Image-to-image translation has drawn great attention during the past few years. It aims to translate an image in one domain to a given reference image in another domain. Due to its effectiveness and efficiency, many applications can be…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Disentangled representation learning has been proposed as an approach to learning general representations even in the absence of, or with limited, supervision. A good general representation can be fine-tuned for new target tasks using…

Image-to-image translation aims to learn the mapping between two visual domains. There are two main challenges for this task: 1) lack of aligned training pairs and 2) multiple possible outputs from a single input image. In this work, we…

Intelligent agents should be able to learn useful representations by observing changes in their environment. We model such observations as pairs of non-i.i.d. images sharing at least one of the underlying factors of variation. First, we…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

The use of cameras for vehicle speed measurement is much more cost effective compared to other technologies such as inductive loops, radar or laser. However, accurate speed measurement remains a challenge due to the inherent limitations of…

Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks. However, these approaches pretrain only on 2D images, while many robotics…

Visual Reinforcement Learning (RL) agents trained on limited views face significant challenges in generalizing their learned abilities to unseen views. This inherent difficulty is known as the problem of $\textit{view generalization}$. In…

Reinforcement learning is a powerful framework for robots to acquire skills from experience, but often requires a substantial amount of online data collection. As a result, it is difficult to collect sufficiently diverse experiences that…

Reinforcement Learning (RL) is a learning paradigm concerned with learning to control a system so as to maximize an objective over the long term. This approach to learning has received immense interest in recent times and success manifests…

Multi-teacher Knowledge Distillation (KD) transfers diverse knowledge from a teacher pool to a student network. The core problem of multi-teacher KD is how to balance distillation strengths among various teachers. Most existing methods…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Many real world tasks require multiple agents to work together. Multi-agent reinforcement learning (RL) methods have been proposed in recent years to solve these tasks, but current methods often fail to efficiently learn policies. We thus…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

With its significant performance improvements, the deep learning paradigm has become a standard tool for modern image denoisers. While promising performance has been shown on seen noise distributions, existing approaches often suffer from…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…