相关论文: Viewpoint-Agnostic Manipulation Policies with Stra…

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…

Real-world fine manipulation, particularly in bimanual manipulation, typically requires low-latency control and stable visual localization, while collecting large-scale data is costly and limited demonstrations may lead to localization…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

Preference-based alignment is pivotal for training large reasoning models; however, standard methods like Direct Preference Optimization (DPO) typically treat all preference pairs uniformly, overlooking the evolving utility of training…

The tracking-by-detection framework consists of two stages, i.e., drawing samples around the target object in the first stage and classifying each sample as the target object or as background in the second stage. The performance of existing…

Clustering multi-view data has been a fundamental research topic in the computer vision community. It has been shown that a better accuracy can be achieved by integrating information of all the views than just using one view individually.…

Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot positions and camera viewpoints. This leads to poor…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

We initiate a study of the geometry of the visual representation space -- the information channel from the vision encoder to the action decoder -- in an image-based control pipeline learned from behavior cloning. Inspired by the phenomenon…

Unsupervised visual anomaly detection from multi-view images presents a significant challenge: distinguishing genuine defects from benign appearance variations caused by viewpoint changes. Existing methods, often designed for single-view…

Neural Rendering representations have significantly contributed to the field of 3D computer vision. Given their potential, considerable efforts have been invested to improve their performance. Nonetheless, the essential question of…

Finetuning a pretrained vision model (PVM) is a common technique for learning downstream vision tasks. However, the conventional finetuning process with randomly sampled data points results in diminished training efficiency. To address this…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

Synthesizing visual content that meets users' needs often requires flexible and precise controllability of the pose, shape, expression, and layout of the generated objects. Existing approaches gain controllability of generative adversarial…

We propose ViewAL, a novel active learning strategy for semantic segmentation that exploits viewpoint consistency in multi-view datasets. Our core idea is that inconsistencies in model predictions across viewpoints provide a very reliable…

Advantage Learning (AL) seeks to increase the action gap between the optimal action and its competitors, so as to improve the robustness to estimation errors. However, the method becomes problematic when the optimal action induced by the…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

We consider artificial agents that learn to jointly control their gripperand camera in order to reinforcement learn manipulation policies in the presenceof occlusions from distractor objects. Distractors often occlude the object of…

Bargaining can be used to resolve mixed-motive games in multi-agent systems. Although there is an abundance of negotiation strategies implemented in automated negotiating agents, most agents are based on single fixed strategies, while it is…

Feature Visualization (FV) is a widely used technique for interpreting concepts learned by Deep Neural Networks (DNNs), which synthesizes input patterns that maximally activate a given feature. Despite its popularity, the trustworthiness of…