相关论文: CAGE: Causal Attention Enables Data-Efficient Gene…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…

The availability of extensive datasets containing gaze information for each subject has significantly enhanced gaze estimation accuracy. However, the discrepancy between domains severely affects a model's performance explicitly trained for…

Despite significant work on low-bit quantization-aware training (QAT), there is still an accuracy gap between such techniques and native training. To address this, we introduce CAGE (Curvature-Aware Gradient Estimation), a new QAT method…

Automated feature engineering (AFE) enables AI systems to autonomously construct high-utility representations from raw tabular data. However, existing AFE methods rely on statistical heuristics, yielding brittle features that fail under…

The field of video generation has expanded significantly in recent years, with controllable and compositional video generation garnering considerable interest. Most methods rely on leveraging annotations such as text, objects' bounding…

Enabling legged robots to perform non-prehensile loco-manipulation is crucial for enhancing their versatility. Learning behaviors such as whole-body object pushing often requires sophisticated planning strategies or extensive task-specific…

As Artificial Intelligence (AI) is having more influence on our everyday lives, it becomes important that AI-based decisions are transparent and explainable. As a consequence, the field of eXplainable AI (or XAI) has become popular in…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

Accurate prediction of outcomes is crucial for clinical decision-making and personalized patient care. Supervised machine learning algorithms, which are commonly used for outcome prediction in the medical domain, optimize for predictive…

Robotic manipulation systems operating in diverse, dynamic environments must exhibit three critical abilities: multitask interaction, generalization to unseen scenarios, and spatial memory. While significant progress has been made in…

Human vision is a highly active process driven by gaze, which directs attention to task-relevant regions through foveation, dramatically reducing visual processing. In contrast, robot learning systems typically rely on passive, uniform…

Successfully solving long-horizon manipulation tasks remains a fundamental challenge. These tasks involve extended action sequences and complex object interactions, presenting a critical gap between high-level symbolic planning and…

Improving generalization is one key challenge in embodied AI, where obtaining large-scale datasets across diverse scenarios is costly. Traditional weak augmentations, such as cropping and flipping, are insufficient for improving a model's…

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…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…