相关论文: ATK: Automatic Task-driven Keypoint Selection for …

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

Reducing redundancy is crucial for improving the efficiency of video recognition models. An effective approach is to select informative content from the holistic video, yielding a popular family of dynamic video recognition methods.…

Despite rapid commercialization of surgical robots, their autonomy and real-time decision-making remain limited in practice. To address this gap, we propose ArthroCut, an autonomous policy learning framework that upgrades knee arthroplasty…

Recent studies have demonstrated the effectiveness of token-based methods for visual content generation. As a representative work, non-autoregressive Transformers (NATs) are able to synthesize images with decent quality in a small number of…

Learning from demonstration is a powerful method for teaching robots new skills, and having more demonstration data often improves policy learning. However, the high cost of collecting demonstration data is a significant bottleneck. Videos,…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which is impractical in many applications.…

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…

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…

In order to successfully perform tasks specified by natural language instructions, an artificial agent operating in a visual world needs to map words, concepts, and actions from the instruction to visual elements in its environment. This…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…