相关论文: Task-Oriented Hierarchical Object Decomposition fo…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Whole-body control for humanoids is challenging due to the high-dimensional nature of the problem, coupled with the inherent instability of a bipedal morphology. Learning from visual observations further exacerbates this difficulty. In this…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Embodied AI agents in large scenes often need to navigate to find objects. In this work, we study a naturally emerging variant of the object navigation task, hierarchical relational object navigation (HRON), where the goal is to find…

We propose a method to learn image representations from uncurated videos. We combine a supervised loss from off-the-shelf object detectors and self-supervised losses which naturally arise from the video-shot-frame-object hierarchy present…

Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…

Human-centric visual tasks have attracted increasing research attention due to their widespread applications. In this paper, we aim to learn a general human representation from massive unlabeled human images which can benefit downstream…

Generic re-usable pre-trained image representation encoders have become a standard component of methods for many computer vision tasks. As visual representations for robots however, their utility has been limited, leading to a recent wave…

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…

We present Hierarchical Motion Representation (HiMoR), a novel deformation representation for 3D Gaussian primitives capable of achieving high-quality monocular dynamic 3D reconstruction. The insight behind HiMoR is that motions in everyday…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each new task requires substantial human effort, such as careful…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Learning useful representations with little or no supervision is a key challenge in artificial intelligence. We provide an in-depth review of recent advances in representation learning with a focus on autoencoder-based models. To organize…

We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a…

In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…