相关论文: Learning Distributional Demonstration Spaces for T…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

The ways in which an agent's actions affect the world can often be modeled compactly using a set of relational probabilistic planning rules. This paper addresses the problem of learning such rule sets for multiple related tasks. We take a…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Predicting human interaction is challenging as the on-going activity has to be inferred based on a partially observed video. Essentially, a good algorithm should effectively model the mutual influence between the two interacting subjects.…

Multimodal alignment constructs a joint latent vector space where modalities representing the same concept map to neighboring latent vectors. We formulate this as an inverse problem and show that, under certain conditions, paired data from…

Robotic grasping traditionally relies on object features or shape information for learning new or applying already learned grasps. We argue however that such a strong reliance on object geometric information renders grasping and grasp…

We propose an heterogeneous multi-task learning framework for human pose estimation from monocular image with deep convolutional neural network. In particular, we simultaneously learn a pose-joint regressor and a sliding-window body-part…

We propose a method to learn, even using a dataset where objects appear only in sparsely sampled views (e.g. Pix3D), the ability to synthesize a pose trajectory for an arbitrary reference image. This is achieved with a cross-modal pose…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approach that combines…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

We consider the task of learning to estimate human pose in still images. In order to avoid the high cost of full supervision, we propose to use a diverse data set, which consists of two types of annotations: (i) a small number of images are…

Distributed representation plays an important role in deep learning based natural language processing. However, the representation of a sentence often varies in different tasks, which is usually learned from scratch and suffers from the…

Human pose analysis is presently dominated by deep convolutional networks trained with extensive manual annotations of joint locations and beyond. To avoid the need for expensive labeling, we exploit spatiotemporal relations in training…

Matching images and sentences demands a fine understanding of both modalities. In this paper, we propose a new system to discriminatively embed the image and text to a shared visual-textual space. In this field, most existing works apply…