相关论文: Merging and Disentangling Views in Visual Reinforc…

The performance of image-based Reinforcement Learning (RL) agents can vary depending on the position of the camera used to capture the images. Training on multiple cameras simultaneously, including a first-person egocentric camera, can…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Visual robotic manipulation research and applications often use multiple cameras, or views, to better perceive the world. How else can we utilize the richness of multi-view data? In this paper, we investigate how to learn good…

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…

The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, the hardware cost and design constraints in real-world scenarios can potentially make it…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

This study explores the recently proposed and challenging multi-view Anomaly Detection (AD) task. Single-view tasks will encounter blind spots from other perspectives, resulting in inaccuracies in sample-level prediction. Therefore, we…

Multi-view (or -modality) representation learning aims to understand the relationships between different view representations. Existing methods disentangle multi-view representations into consistent and view-specific representations by…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

We present Manifold Alignment Determination (MAD), an algorithm for learning alignments between data points from multiple views or modalities. The approach is capable of learning correspondences between views as well as correspondences…

Manipulation relationship detection (MRD) aims to guide the robot to grasp objects in the right order, which is important to ensure the safety and reliability of grasping in object stacked scenes. Previous works infer manipulation…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Multi-view representation learning aims to derive robust representations that are both view-consistent and view-specific from diverse data sources. This paper presents an in-depth analysis of existing approaches in this domain, highlighting…

Since vision-based manipulation policies are typically trained from data gathered from a single viewpoint, their performance drops when the view changes during deployment. Naively aggregating demonstrations from numerous random views is not…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Reinforcement Learning (RL) algorithms can learn robotic control tasks from visual observations, but they often require a large amount of data, especially when the visual scene is complex and unstructured. In this paper, we explore how the…

In this paper, we propose Multi-View Dreaming, a novel reinforcement learning agent for integrated recognition and control from multi-view observations by extending Dreaming. Most current reinforcement learning method assumes a single-view…

Multi-View Clustering (MVC) has gained significant attention for its ability to leverage complementary information across diverse views. However, existing deep MVC methods often struggle with view-distribution entanglement during cross-view…

With its significant performance improvements, the deep learning paradigm has become a standard tool for modern image denoisers. While promising performance has been shown on seen noise distributions, existing approaches often suffer from…

Multiview camera setups have proven useful in many computer vision applications for reducing ambiguities, mitigating occlusions, and increasing field-of-view coverage. However, the high computational cost associated with multiple views…