相关论文: GROOT-2: Weakly Supervised Multi-Modal Instruction…

Robots' ability to follow language instructions and execute diverse 3D manipulation tasks is vital in robot learning. Traditional imitation learning-based methods perform well on seen tasks but struggle with novel, unseen ones due to…

Although fully-supervised oriented object detection has made significant progress in multimodal remote sensing image understanding, it comes at the cost of labor-intensive annotation. Recent studies have explored weakly and semi-supervised…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Consider the following problem: given a few demonstrations of a task across a few different objects, how can a robot learn to perform that same task on new, previously unseen objects? This is challenging because the large variety of objects…

Meta-learning performs adaptation through a limited amount of support set, which may cause a sample bias problem. To solve this problem, transductive meta-learning is getting more and more attention, going beyond the conventional inductive…

Grasping objects intelligently is a challenging task even for humans and we spend a considerable amount of time during our childhood to learn how to grasp objects correctly. In the case of robots, we can not afford to spend that much time…

One-shot Imitation Learning~(OSIL) aims to imbue AI agents with the ability to learn a new task from a single demonstration. To supervise the learning, OSIL typically requires a prohibitively large number of paired expert demonstrations --…

Generalist robots should be able to understand and follow user instructions, but current vision-language-action (VLA) models struggle with following fine-grained commands despite providing a powerful architecture for mapping open-vocabulary…

Data-driven approaches to assist operating room (OR) workflow analysis depend on large curated datasets that are time consuming and expensive to collect. On the other hand, we see a recent paradigm shift from supervised learning to…

Semi-supervised multi-organ medical image segmentation aids physicians in improving disease diagnosis and treatment planning and reduces the time and effort required for organ annotation.Existing state-of-the-art methods train the labeled…

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a…

Neural natural language generation (NLG) and understanding (NLU) models are data-hungry and require massive amounts of annotated data to be competitive. Recent frameworks address this bottleneck with generative models that synthesize weak…

3D Multi-Object Tracking (MOT), a fundamental component of environmental perception, is essential for intelligent systems like autonomous driving and robotic sensing. Although Tracking-by-Detection frameworks have demonstrated excellent…

Supervised multi-modal learning involves mapping multiple modalities to a target label. Previous studies in this field have concentrated on capturing in isolation either the inter-modality dependencies (the relationships between different…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

We propose MORAL (a multimodal reinforcement learning framework for decision making in autonomous laboratories) that enhances sequential decision-making in autonomous robotic laboratories through the integration of visual and textual…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Being able to cooperate with diverse humans is an important component of many economically valuable AI tasks, from household robotics to autonomous driving. However, generalizing to novel humans requires training on data that captures the…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Semi-supervised learning is a challenging problem which aims to construct a model by learning from a limited number of labeled examples. Numerous methods have been proposed to tackle this problem, with most focusing on utilizing the…