相关论文: Natural Language Can Help Bridge the Sim2Real Gap

The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of…

Masked Image Modeling (MIM) has emerged as a promising method for deriving visual representations from unlabeled image data by predicting missing pixels from masked portions of images. It excels in region-aware learning and provides strong…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Sim2Real aims at training policies in high-fidelity simulation environments and effectively transferring them to the real world. Despite the developments of accurate simulators and Sim2Real RL approaches, the policies trained purely in…

The ability to construct mental models of the world is a central aspect of understanding. Similarly, visual understanding can be viewed as the ability to construct a representative model of the system depicted in an image. This work…

Robots working in unstructured environments must be capable of sensing and interpreting their surroundings. One of the main obstacles of deep-learning-based models in the field of robotics is the lack of domain-specific labeled data for…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

The applicability of computer vision to real paintings and artworks has been rarely investigated, even though a vast heritage would greatly benefit from techniques which can understand and process data from the artistic domain. This is…

Person re-identification is an important task that requires learning discriminative visual features for distinguishing different person identities. Diverse auxiliary information has been utilized to improve the visual feature learning. In…

Our understanding of the visual world is centered around various concept axes, characterizing different aspects of visual entities. While different concept axes can be easily specified by language, e.g. color, the exact visual nuances along…

Models trained on synthetic images often face degraded generalization to real data. As a convention, these models are often initialized with ImageNet pre-trained representation. Yet the role of ImageNet knowledge is seldom discussed despite…

Although image captioning models have made significant advancements in recent years, the majority of them heavily depend on high-quality datasets containing paired images and texts which are costly to acquire. Previous works leverage the…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…

Describing images with text is a fundamental problem in vision-language research. Current studies in this domain mostly focus on single image captioning. However, in various real applications (e.g., image editing, difference interpretation,…

We present Language-Image Value learning (LIV), a unified objective for vision-language representation and reward learning from action-free videos with text annotations. Exploiting a novel connection between dual reinforcement learning and…

Recent breakthroughs in AI have shown the remarkable power of deep learning and deep reinforcement learning. These developments, however, have been tied to specific tasks, and progress in out-of-distribution generalization has been limited.…

We advocate the idea of the natural-language-driven(NLD) simulation to efficiently produce the object interactions between multiple objects in the virtual road scenes, for teaching and testing the autonomous driving systems that should take…

In recent years, reinforcement learning (RL) has shown remarkable success in robotics when a fast and accurate simulator is available for a given task. When using RL and simulation, more simulator realism is generally beneficial but becomes…