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

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to operate within a tightly coupled perception-action loop. However, existing systems typically rely on decoupled modules, resulting in delayed…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

We present a novel generalized zero-shot algorithm to recognize perceived emotions from gestures. Our task is to map gestures to novel emotion categories not encountered in training. We introduce an adversarial, autoencoder-based…

Background: Building visual encoding models to accurately predict visual responses is a central challenge for current vision-based brain-machine interface techniques. To achieve high prediction accuracy on neural signals, visual encoding…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…

Transferring knowledge from task-agnostic pre-trained deep models for downstream tasks is an important topic in computer vision research. Along with the growth of computational capacity, we now have open-source vision-language pre-trained…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

The integration of visual inputs with large language models (LLMs) has led to remarkable advancements in multi-modal capabilities, giving rise to visual large language models (VLLMs). However, effectively harnessing VLLMs for intricate…

Recent works on zero-shot learning make use of side information such as visual attributes or natural language semantics to define the relations between output visual classes and then use these relationships to draw inference on new unseen…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Despite remarkable progress in Vision-Language-Action models (VLAs) for robot manipulation, these large pre-trained models require fine-tuning to be deployed in specific environments. These fine-tuned models are highly sensitive to camera…

This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we…

This work presents an innovative method for point set self-embedding, that encodes the structural information of a dense point set into its sparser version in a visual but imperceptible form. The self-embedded point set can function as the…

In this paper, we propose the use of generative artificial intelligence (AI) to improve zero-shot performance of a pre-trained policy by altering observations during inference. Modern robotic systems, powered by advanced neural networks,…

Transferring the pose of a reference avatar to stylized 3D characters of various shapes is a fundamental task in computer graphics. Existing methods either require the stylized characters to be rigged, or they use the stylized character in…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

Visuomotor policies often leverage large pre-trained Vision Transformers (ViTs) for their powerful generalization capabilities. However, their significant data requirements present a major challenge in the data-scarce context of most…