相关论文: Out-of-Distribution Recovery with Object-Centric K…

Learning from previously collected datasets of expert data offers the promise of acquiring robotic policies without unsafe and costly online explorations. However, a major challenge is a distributional shift between the states in the…

Detecting Out-of-Distribution (OOD) samples in real world visual applications like classification or object detection has become a necessary precondition in today's deployment of Deep Learning systems. Many techniques have been proposed, of…

Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant…

Machine unlearning seeks to remove the influence of particular data or class from trained models to meet privacy, legal, or ethical requirements. Existing unlearning methods tend to forget shallowly: phenomenon of an unlearned model pretend…

A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the combination of high-dimensional visual inputs and agile…

Machine learning models often suffer from catastrophic forgetting of previously learned knowledge when learning new classes. Various methods have been proposed to mitigate this issue. However, rehearsal-based learning, which retains samples…

Recognizing out-of-distribution (OOD) samples is critical for machine learning systems deployed in the open world. The vast majority of OOD detection methods are driven by a single modality (e.g., either vision or language), leaving the…

Object detection is essential to many perception algorithms used in modern robotics applications. Unfortunately, the existing models share a tendency to assign high confidence scores for out-of-distribution (OOD) samples. Although OOD…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

Unsupervised object-centric representation (OCR) learning has recently drawn attention as a new paradigm of visual representation. This is because of its potential of being an effective pre-training technique for various downstream tasks in…

Robotic agents trained using reinforcement learning have the problem of taking unreliable actions in an out-of-distribution (OOD) state. Agents can easily become OOD in real-world environments because it is almost impossible for them to…

Out-of-distribution (OOD) detection helps models identify data outside the training categories, crucial for security applications. While feature-based post-hoc methods address this by evaluating data differences in the feature space without…

Improving the sample efficiency of reinforcement learning algorithms requires effective exploration. Following the principle of $\textit{optimism in the face of uncertainty}$ (OFU), we train a separate exploration policy to maximize the…

Imitation learning is a data-driven approach to learning policies from expert behavior, but it is prone to unreliable outcomes in out-of-sample (OOS) regions. While previous research relying on stable dynamical systems guarantees…

We tackle the challenge of learning to charge Electric Vehicles (EVs) with Out-of-Distribution (OOD) data. Traditional scheduling algorithms typically fail to balance near-optimal average performance with worst-case guarantees, particularly…

We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Object-centric learning emphasizes task-relevant objects and…

Out-of-distribution (OoD) inputs pose a persistent challenge to deep learning models, often triggering overconfident predictions on non-target objects. While prior work has primarily focused on refining scoring functions and adjusting…

Unsupervised continual learning aims to learn new tasks incrementally without requiring human annotations. However, most existing methods, especially those targeted on image classification, only work in a simplified scenario by assuming all…

Deep Reinforcement Learning (DRL) has demonstrated strong performance in robotic control but remains susceptible to out-of-distribution (OOD) states, often resulting in unreliable actions and task failure. While previous methods have…

State-of-the-art Object Detection (OD) methods predominantly operate under a closed-world assumption, where test-time categories match those encountered during training. However, detecting and localizing unknown objects is crucial for…