相关论文: Zero-Shot Visual Generalization in Robot Manipulat…

Vision-based imitation learning has enabled impressive robotic manipulation skills, but its reliance on object appearance while ignoring the underlying 3D scene structure leads to low training efficiency and poor generalization. To address…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

The key idea behind the unsupervised learning of disentangled representations is that real-world data is generated by a few explanatory factors of variation which can be recovered by unsupervised learning algorithms. In this paper, we…

This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…

Recent research has made the surprising finding that state-of-the-art deep learning models sometimes fail to generalize to small variations of the input. Adversarial training has been shown to be an effective approach to overcome this…

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…

This paper studies the problem of generalized zero-shot learning which requires the model to train on image-label pairs from some seen classes and test on the task of classifying new images from both seen and unseen classes. Most previous…

Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Recently, cross domain transfer has been applied for unsupervised image restoration tasks. However, directly applying existing frameworks would lead to domain-shift problems in translated images due to lack of effective supervision.…

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…

Generalized zero-shot learning aims to recognize both seen and unseen classes with the help of semantic information that is shared among different classes. It inevitably requires consistent visual-semantic alignment. Existing approaches…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

Depth information is robust to scene appearance variations and inherently carries 3D spatial details. Thus, a visual backbone based on the vision transformer is proposed to fuse RGB and depth modalities for enhancing generalization in this…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…