相关论文: Visually Robust Adversarial Imitation Learning fro…

While self-supervised learning has enabled effective representation learning in the absence of labels, for vision, video remains a relatively untapped source of supervision. To address this, we propose Pixel-level Correspondence (PiCo), a…

This paper focuses on self-supervised video representation learning. Most existing approaches follow the contrastive learning pipeline to construct positive and negative pairs by sampling different clips. However, this formulation tends to…

Generating representations of video data is of key importance in advancing the field of machine perception. Most current techniques rely on hand-annotated data, which can be difficult to work with, expensive to generate, and hard to scale.…

Contrastive decoding strategies are widely used to mitigate object hallucinations in multimodal large language models (MLLMs). By reducing over-reliance on language priors, these strategies ensure that generated content remains closely…

Robust learning from noisy demonstrations is a practical but highly challenging problem in imitation learning. In this paper, we first theoretically show that robust imitation learning can be achieved by optimizing a classification risk…

Facial action unit (AU) detection, aiming to classify AU present in the facial image, has long suffered from insufficient AU annotations. In this paper, we aim to mitigate this data scarcity issue by learning AU representations from a large…

Pretrained vision-language models (VLMs) like CLIP exhibit exceptional generalization across diverse downstream tasks. While recent studies reveal their vulnerability to adversarial attacks, research to date has primarily focused on…

We focus on contrastive methods for self-supervised video representation learning. A common paradigm in contrastive learning is to construct positive pairs by sampling different data views for the same instance, with different data…

Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in…

Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…

Spatio-temporal representation learning is critical for video self-supervised representation. Recent approaches mainly use contrastive learning and pretext tasks. However, these approaches learn representation by discriminating sampled…

Recent works have advanced the performance of self-supervised representation learning by a large margin. The core among these methods is intra-image invariance learning. Two different transformations of one image instance are considered as…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

This paper proposes a method for precise learning and synthesizing multi-instance semantics from a single image. The difficulty of this problem lies in the limited training data, and it becomes even more challenging when the instances to be…

Weakly supervised audio-visual video parsing (AVVP) methods aim to detect audible-only, visible-only, and audible-visible events using only video-level labels. Existing approaches tackle this by leveraging unimodal and cross-modal contexts.…

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…

We introduce the task of weakly supervised learning for detecting human and object interactions in videos. Our task poses unique challenges as a system does not know what types of human-object interactions are present in a video or the…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large…