相关论文: VertiCoder: Self-Supervised Kinodynamic Representa…

Sophisticated learning architectures, e.g., Transformers, present a unique opportunity for robots to understand complex vehicle-terrain kinodynamic interactions for off-road mobility. While internet-scale data are available for Natural…

Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models often struggle to generalize across diverse geometric and…

Reinforcement Learning (RL) has the potential to enable extreme off-road mobility by circumventing complex kinodynamic modeling, planning, and control by simulated end-to-end trial-and-error learning experiences. However, most RL methods…

Developing autonomous off-road mobility typically requires either extensive, platform-specific data collection or relies on simplified abstractions, such as unicycle or bicycle models, that fail to capture the complex kinodynamics of…

Recent work in visual representation learning for robotics demonstrates the viability of learning from large video datasets of humans performing everyday tasks. Leveraging methods such as masked autoencoding and contrastive learning, these…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

We propose a novel self-supervised approach for learning to visually localize robots equipped with controllable LEDs. We rely on a few training samples labeled with position ground truth and many training samples in which only the LED state…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

There has been a recent explosion of computer vision models which perform many tasks and are composed of an image encoder (usually a ViT) and an autoregressive decoder (usually a Transformer). However, most of this work simply presents one…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Recent self-supervised learning (SSL) methods have shown impressive results in learning visual representations from unlabeled images. This paper aims to improve their performance further by utilizing the architectural advantages of the…

We develop an approach to learning visual representations that embraces multimodal data, driven by a combination of intra- and inter-modal similarity preservation objectives. Unlike existing visual pre-training methods, which solve a proxy…

High annotation costs and limited labels for dense 3D medical imaging tasks have recently motivated an assortment of 3D self-supervised pretraining methods that improve transfer learning performance. However, these methods commonly lack…

It is a challenging task to learn discriminative representation from images and videos, due to large local redundancy and complex global dependency in these visual data. Convolution neural networks (CNNs) and vision transformers (ViTs) have…

The Vision Transformer architecture has shown to be competitive in the computer vision (CV) space where it has dethroned convolution-based networks in several benchmarks. Nevertheless, convolutional neural networks (CNN) remain the…