相关论文: AugInsert: Learning Robust Visual-Force Policies v…

Multi-sensor fusion stands as a pivotal technique in addressing numerous safety-critical tasks and applications, e.g., self-driving cars and automated robotic arms. With the continuous advancement in data-driven artificial intelligence…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

Data augmentation has become a de facto component for training high-performance deep image classifiers, but its potential is under-explored for object detection. Noting that most state-of-the-art object detectors benefit from fine-tuning a…

We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

While reinforcement learning has shown experimental success in a number of applications, it is known to be sensitive to noise and perturbations in the parameters of the system, leading to high variance in the total reward amongst different…

Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…

We consider the problem of distributionally robust multimodal machine learning. Existing approaches often rely on merging modalities on the feature level (early fusion) or heuristic uncertainty modeling, which downplays modality-aware…

Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal…

Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…

Joint Embedding Architecture-based self-supervised learning methods have attributed the composition of data augmentations as a crucial factor for their strong representation learning capabilities. While regional dropout strategies have…

Recent unsupervised representation learning methods have shown to be effective in a range of vision tasks by learning representations invariant to data augmentations such as random cropping and color jittering. However, such invariance…

Recent advances in reinforcement learning (RL) have strengthened the reasoning capabilities of vision-language models (VLMs). However, enhancing policy exploration to better scale test-time compute remains largely underexplored. In…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

Serious games are accepted as an effective approach to deliver augmented feedback in motor (re-) learning processes. The multi-modal nature of the conventional computer games (e.g. audiovisual representation) plus the ability to interact…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

While agents trained by Reinforcement Learning (RL) can solve increasingly challenging tasks directly from visual observations, generalizing learned skills to novel environments remains very challenging. Extensive use of data augmentation…

Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…