相关论文: Perception Stitching: Zero-Shot Perception Encoder…

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…

Robots need to learn skills that can not only generalize across similar problems but also be directed to a specific goal. Previous methods either train a new skill for every different goal or do not infer the specific target in the presence…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code to connect high-level task descriptions and low-level action…

Zero-shot imitation learning algorithms hold the promise of reproducing unseen behavior from as little as a single demonstration at test time. Existing practical approaches view the expert demonstration as a sequence of goals, enabling…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

Autonomous systems often encounter environments and scenarios beyond the scope of their training data, which underscores a critical challenge: the need to generalize and adapt to unseen scenarios in real time. This challenge necessitates…

We consider the problem of zero-shot recognition: learning a visual classifier for a category with zero training examples, just using the word embedding of the category and its relationship to other categories, which visual data are…

Scaling up visual category recognition to large numbers of classes remains challenging. A promising research direction is zero-shot learning, which does not require any training data to recognize new classes, but rather relies on some form…

End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an…

General-purpose AI models, particularly those designed for text and vision, demonstrate impressive versatility across a wide range of deep-learning tasks. However, they often underperform in specialised domains like medical imaging, where…

Visual observations from different viewpoints can significantly influence the performance of visuomotor policies in robotic manipulation. Among these, egocentric (in-hand) views often provide crucial information for precise control.…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups. Deformable foods necessitate different skewering…

Semantic segmentation, which aims to acquire a detailed understanding of images, is an essential issue in computer vision. However, in practical scenarios, new categories that are different from the categories in training usually appear.…

Zero-shot learning transfers knowledge from seen classes to novel unseen classes to reduce human labor of labelling data for building new classifiers. Much effort on zero-shot learning however has focused on the standard multi-class…

In this paper we consider a version of the zero-shot learning problem where seen class source and target domain data are provided. The goal during test-time is to accurately predict the class label of an unseen target domain instance based…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Generalized zero-shot learning aims to recognize both seen and unseen classes with the help of semantic information that is shared among different classes. It inevitably requires consistent visual-semantic alignment. Existing approaches…