相关论文: Beyond Domain Randomization: Event-Inspired Percep…

Producing agents that can generalize to a wide range of visually different environments is a significant challenge in reinforcement learning. One method for overcoming this issue is visual domain randomization, whereby at the start of each…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

Traditionally, vision models have predominantly relied on spatial features extracted from static images, deviating from the continuous stream of spatiotemporal features processed by the brain in natural vision. While numerous…

Perception and decision-making in high-speed dynamic scenarios remain challenging for current robots. In contrast, humans and animals can rapidly perceive and make decisions in such environments. Taking table tennis as a typical example,…

Event cameras, mimicking the human retina, capture brightness changes with unparalleled temporal resolution and dynamic range. Integrating events into intensities poses a highly ill-posed challenge, marred by initial condition ambiguities.…

Visual domain randomization in simulated environments is a widely used method to transfer policies trained in simulation to real robots. However, domain randomization and augmentation hamper the training of a policy. As reinforcement…

Most standard learning approaches lead to fragile models which are prone to drift when sequentially trained on samples of a different nature - the well-known "catastrophic forgetting" issue. In particular, when a model consecutively learns…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

In this paper, we consider domain-adaptive imitation learning with visual observation, where an agent in a target domain learns to perform a task by observing expert demonstrations in a source domain. Domain adaptive imitation learning…

Event-based cameras are dynamic vision sensors that provide asynchronous measurements of changes in per-pixel brightness at a microsecond level. This makes them significantly faster than conventional frame-based cameras, and an appealing…

Event cameras are novel sensors that report brightness changes in the form of asynchronous "events" instead of intensity frames. They have significant advantages over conventional cameras: high temporal resolution, high dynamic range, and…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Vision-based reinforcement learning (RL) is successful, but how to generalize it to unknown test environments remains challenging. Existing methods focus on training an RL policy that is universal to changing visual domains, whereas we…

Text-conditioned diffusion models have emerged as powerful tools for high-quality video generation. However, enabling Interactive Video Generation (IVG), where users control motion elements such as object trajectory, remains challenging.…

Conventional video classification models, acting as effective imitators, excel in scenarios with homogeneous data distributions. However, real-world applications often present an open-instance challenge, where intra-class variations are…

Enhancing the generalization capability of deep neural networks to unseen domains is crucial for safety-critical applications in the real world such as autonomous driving. To address this issue, this paper proposes a novel instance…

Despite their excellent performance, state-of-the-art computer vision models often fail when they encounter adversarial examples. Video perception models tend to be more fragile under attacks, because the adversary has more places to…

Diverse input data modalities can provide complementary cues for several tasks, usually leading to more robust algorithms and better performance. However, while a (training) dataset could be accurately designed to include a variety of…

Real-world robotics problems often occur in domains that differ significantly from the robot's prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either…

Multimedia event detection is the task of detecting a specific event of interest in an user-generated video on websites. The most fundamental challenge facing this task lies in the enormously varying quality of the video as well as the…