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

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Behavioral cloning has proven to be effective for learning sequential decision-making policies from expert demonstrations. However, behavioral cloning often suffers from the causal confusion problem where a policy relies on the noticeable…

Recent work has shown that data augmentation has the potential to significantly improve the generalization of deep learning models. Recently, automated augmentation strategies have led to state-of-the-art results in image classification and…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Vision-Language-Action (VLA) models have demonstrated remarkable performance on complex tasks through imitation learning in recent robotic manipulation works. Based on large-scale and high-quality demonstration datasets, existing imitation…

Coherence evaluation aims to assess the organization and structure of a discourse, which remains challenging even in the era of large language models. Due to the scarcity of annotated data, data augmentation is commonly used for training…

In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…

Recent advances in unsupervised representation learning significantly improved the sample efficiency of training Reinforcement Learning policies in simulated environments. However, similar gains have not yet been seen for real-robot…

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…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Enhancing the generalization capability of robotic learning to enable robots to operate effectively in diverse, unseen scenes is a fundamental and challenging problem. Existing approaches often depend on pretraining with large-scale data…

Counterfactual Data Augmentation (CDA) is a commonly used technique for improving robustness in natural language classifiers. However, one fundamental challenge is how to discover meaningful counterfactuals and efficiently label them, with…

Deep learning systems are prone to catastrophic forgetting when learning from a sequence of tasks, as old data from previous tasks is unavailable when learning a new task. To address this, some methods propose replaying data from previous…

Counterfactual data augmentation (CDA) -- i.e., adding minimally perturbed inputs during training -- helps reduce model reliance on spurious correlations and improves generalization to out-of-distribution (OOD) data. Prior work on…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Robot Imitation Learning (IL) is a crucial technique in robot learning, where agents learn by mimicking human demonstrations. However, IL encounters scalability challenges stemming from both non-user-friendly demonstration collection…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…