相关论文: NVSPolicy: Adaptive Novel-View Synthesis for Gener…

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

We introduce and define a novel task-Scene-Aware Visually-Driven Speech Synthesis, aimed at addressing the limitations of existing speech generation models in creating immersive auditory experiences that align with the real physical world.…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Vision-and-language navigation (VLN) is a task in which an agent is embodied in a realistic 3D environment and follows an instruction to reach the goal node. While most of the previous studies have built and investigated a discriminative…

Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…

We tackle the problem of learning robotic sensorimotor control policies that can generalize to visually diverse and unseen environments. Achieving broad generalization typically requires large datasets, which are difficult to obtain for…

Current advanced policy learning methodologies have demonstrated the ability to develop expert-level strategies when provided enough information. However, their requirements, including task-specific rewards, action-labeled expert…

We propose Neuro-Symbolic Visual Dialog (NSVD) -the first method to combine deep learning and symbolic program execution for multi-round visually-grounded reasoning. NSVD significantly outperforms existing purely-connectionist methods on…

Guided Policy Search enables robots to learn control policies for complex manipulation tasks efficiently. Therein, the control policies are represented as high-dimensional neural networks which derive robot actions based on states. However,…

Creating realistic and natural-sounding synthetic speech remains a big challenge for voice identities unseen during training. As there is growing interest in synthesizing voices of new speakers, here we investigate the ability of…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

In this paper, we propose an approach for synthesizing novel view images from a single RGBD (Red Green Blue-Depth) input. Novel view synthesis (NVS) is an interesting computer vision task with extensive applications. Methods using multiple…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

Recently, large pretrained language models have achieved compelling performance on commonsense benchmarks. Nevertheless, it is unclear what commonsense knowledge the models learn and whether they solely exploit spurious patterns. Feature…

In this study, we propose two novel input processing paradigms for novel view synthesis (NVS) methods based on layered scene representations that significantly improve their runtime without compromising quality. Our approach identifies and…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

The systematic evaluation and understanding of computer vision models under varying conditions require large amounts of data with comprehensive and customized labels, which real-world vision datasets rarely satisfy. While current synthetic…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…