相关论文: RoCoDA: Counterfactual Data Augmentation for Data-…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

Autonomous driving policies are typically trained via open-loop behavior cloning of human demonstrations. However, such policies suffer from covariate shift when deployed in closed loop, leading to compounding errors. We introduce Rollouts…

End-to-end imitation learning offers a promising approach for training robot policies. However, generalizing to new settings remains a significant challenge. Although large-scale robot demonstration datasets have shown potential for…

Recognizing symmetries in data allows for significant boosts in neural network training. In many cases, however, the underlying symmetry is present only in an idealized dataset, and is broken in the training data, due to effects such as…

In many classification problems, we want a classifier that is robust to a range of non-semantic transformations. For example, a human can identify a dog in a picture regardless of the orientation and pose in which it appears. There is…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

In computer vision, it is well-known that a lack of data diversity will impair model performance. In this study, we address the challenges of enhancing the dataset diversity problem in order to benefit various downstream tasks such as…

Self-supervised learning is a powerful way to learn useful representations from natural data. It has also been suggested as one possible means of building visual representation in humans, but the specific objective and algorithm are…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

A data augmentation module is utilized in contrastive learning to transform the given data example into two views, which is considered essential and irreplaceable. However, the predetermined composition of multiple data augmentations brings…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

Q-learning algorithms are appealing for real-world applications due to their data-efficiency, but they are very prone to overfitting and training instabilities when trained from visual observations. Prior work, namely SVEA, finds that…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

The accumulation of time-series signals and the absence of labels make time-series Anomaly Detection (AD) a self-supervised task of deep learning. Methods based on normality assumptions face the following three limitations: (1) A single…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

Self-supervised visual representation methods are closing the gap with supervised learning performance. These methods rely on maximizing the similarity between embeddings of related synthetic inputs created through data augmentations. This…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Designing learning systems which are invariant to certain data transformations is critical in machine learning. Practitioners can typically enforce a desired invariance on the trained model through the choice of a network architecture, e.g.…