相关论文: Theia: Distilling Diverse Vision Foundation Models…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Foundation models have recently expanded into robotics after excelling in computer vision and natural language processing. The models are accessible in two ways: open-source or paid, closed-source options. Users with access to both face a…

Vision foundation models (VFMs) are predominantly developed using data-centric methods. These methods require training on vast amounts of data usually with high-quality labels, which poses a bottleneck for most institutions that lack both…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

Multimodal artificial intelligence (AI) integrates diverse types of data via machine learning to improve understanding, prediction, and decision-making across disciplines such as healthcare, science, and engineering. However, most…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

In robot learning, Vision Transformers (ViTs) are standard for visual perception, yet most methods discard valuable information by using only the final layer's features. We argue this provides an insufficient representation and propose the…

Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift arising due to the small amount of expert data, recent works…

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…

Imagining the future trajectory is the key for robots to make sound planning and successfully reach their goals. Therefore, text-conditioned video prediction (TVP) is an essential task to facilitate general robot policy learning. To tackle…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

World models enable robots to "imagine" future observations given current observations and planned actions, and have been increasingly adopted as generalized dynamics models to facilitate robot learning. Despite their promise, these models…

Foundation models have garnered increasing attention for representation learning in remote sensing. Many such foundation models adopt approaches that have demonstrated success in computer vision with minimal domain-specific modification.…

LangXAI is a framework that integrates Explainable Artificial Intelligence (XAI) with advanced vision models to generate textual explanations for visual recognition tasks. Despite XAI advancements, an understanding gap persists for…