相关论文: IMRL: Integrating Visual, Physical, Temporal, and …

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…

Multimodal learning often encounters the under-optimized problem and may perform worse than unimodal learning. Existing approaches attribute this issue to imbalanced learning across modalities and tend to address it through gradient…

With the excellent representation capabilities of Pre-Trained Models (PTMs), remarkable progress has been made in non-rehearsal Class-Incremental Learning (CIL) research. However, it remains an extremely challenging task due to three…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Dexterous grasping in the real world presents a fundamental and significant challenge for robot learning. The ability to employ affordance-aware poses to grasp objects with diverse geometries and properties in arbitrary scenarios is…

Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

This paper proposes an introspective deep metric learning (IDML) framework for uncertainty-aware comparisons of images. Conventional deep metric learning methods produce confident semantic distances between images regardless of the…

Visual coverage path planning with unmanned aerial vehicles (UAVs) requires agents to strategically coordinate UAV motion and camera control to maximize coverage, minimize redundancy, and maintain battery efficiency. Traditional…

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where…

Incomplete Multi-View Clustering (IMVC) faces the challenge of learning discriminative representations from fragmentary observations while maintaining robustness against missing views. However, prevalent Euclidean-based methods suffer from…

We propose Improved Memories Learning (IMeL), a novel algorithm that turns reinforcement learning (RL) into a supervised learning (SL) problem and delimits the role of neural networks (NN) to interpolation. IMeL consists of two components.…

Inverse reinforcement learning (IRL) offers a powerful and general framework for learning humans' latent preferences in route recommendation, yet no approach has successfully addressed planetary-scale problems with hundreds of millions of…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Training a model for food recognition is challenging because the training samples, which are typically crawled from the Internet, are visually different from the pictures captured by users in the free-living environment. In addition to this…

Inverse reinforcement learning (IRL) infers a reward function from demonstrations, allowing for policy improvement and generalization. However, despite much recent interest in IRL, little work has been done to understand the minimum set of…

While combining imitation learning (IL) and reinforcement learning (RL) is a promising way to address poor sample efficiency in autonomous behavior acquisition, methods that do so typically assume that the requisite behavior demonstrations…