相关论文: Pre-trained Visual Dynamics Representations for Ef…

We propose a self-supervised visual learning method by predicting the variable playback speeds of a video. Without semantic labels, we learn the spatio-temporal visual representation of the video by leveraging the variations in the visual…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

Instructional videos provide a convenient modality to learn new tasks (ex. cooking a recipe, or assembling furniture). A viewer will want to find a corresponding video that reflects both the overall task they are interested in as well as…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

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…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

Weakly supervised temporal action localization (WTAL) aims to detect action instances in untrimmed videos using only video-level annotations. Since many existing works optimize WTAL models based on action classification labels, they…

Image-based visual-language (I-VL) pre-training has shown great success for learning joint visual-textual representations from large-scale web data, revealing remarkable ability for zero-shot generalisation. This paper presents a simple but…

Generative models have made significant progress in synthesizing visual content, including images, videos, and 3D/4D structures. However, they are typically trained with surrogate objectives such as likelihood or reconstruction loss, which…

The recent success in deep learning has lead to various effective representation learning methods for videos. However, the current approaches for video representation require large amount of human labeled datasets for effective learning. We…

Visual domain randomization in simulated environments is a widely used method to transfer policies trained in simulation to real robots. However, domain randomization and augmentation hamper the training of a policy. As reinforcement…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Recent work in visual representation learning for robotics demonstrates the viability of learning from large video datasets of humans performing everyday tasks. Leveraging methods such as masked autoencoding and contrastive learning, these…

Progress in deep learning highlights the tremendous potential of utilizing diverse robotic datasets for attaining effective generalization and makes it enticing to consider leveraging broad datasets for attaining robust generalization in…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

End-to-end reinforcement learning on images showed significant progress in the recent years. Data-based approach leverage data augmentation and domain randomization while representation learning methods use auxiliary losses to learn…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…