相关论文: Towards Effective Utilization of Mixed-Quality Dem…

We describe the use of machine learning algorithms to select high-quality measurements for the Mu2e experiment. This technique is important for experiments with backgrounds that arise due to measurement errors. The algorithms use multiple…

As a part of the Data-Centric AI Competition, we propose a data-centric approach to improve the diversity of the training samples by iterative sampling. The method itself relies strongly on the fidelity of augmented samples and the…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…

Text-to-image (T2I) models based on diffusion and transformer architectures advance rapidly. They are often pretrained on large corpora, and openly shared on a model platform, such as HuggingFace. Users can then build up AI applications,…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Autonomous robot manipulation is a complex and continuously evolving robotics field. This paper focuses on data augmentation methods in imitation learning. Imitation learning consists of three stages: data collection from experts, learning…

In large-scale distributed scenarios, increasingly complex tasks demand more intelligent collaboration across networks, requiring the joint extraction of structural representations from data samples. However, conventional task-specific…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

Medical image translation is crucial for reducing the need for redundant and expensive multi-modal imaging in clinical field. However, current approaches based on Convolutional Neural Networks (CNNs) and Transformers often fail to capture…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Deep learning has revolutionized many industries by enabling models to automatically learn complex patterns from raw data, reducing dependence on manual feature engineering. However, deep learning algorithms are sensitive to input data, and…

Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…

Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the emergence of multi-modal data distributions, thereby…

With the rising number of machine learning competitions, the world has witnessed an exciting race for the best algorithms. However, the involved data selection process may fundamentally suffer from evidence ambiguity and concept drift…

Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as Hierarchical Task Model Predictive Control (HTMPC) enable…

As robot fleets become more heterogeneous, including humanoids, rovers, quadrupeds, and drones, selecting the right robot for a task becomes a core systems problem. We study robot skill prediction: mapping a natural-language task…

When selecting data for training large-scale models, standard practice is to filter for examples that match human notions of data quality. Such filtering yields qualitatively clean datapoints that intuitively should improve model behavior.…