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

The aim of multi-agent reinforcement learning systems is to provide interacting agents with the ability to collaboratively learn and adapt to the behavior of other agents. In many real-world applications, the agents can only acquire a…

3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…

Recent Vision-Language Models (VLMs) have demonstrated remarkable multimodal understanding capabilities, yet the redundant visual tokens incur prohibitive computational overhead and degrade inference efficiency. Prior studies typically…

Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…

Vision Transformers (ViTs) have computational costs scaling quadratically with the number of tokens, calling for effective token pruning policies. Most existing policies are handcrafted, lacking adaptivity to varying inputs. Moreover, they…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

We show that off-the-shelf text-based Transformers, with no additional training, can perform few-shot in-context visual imitation learning, mapping visual observations to action sequences that emulate the demonstrator's behaviour. We…

Visuomotor policies trained via imitation learning are capable of performing challenging manipulation tasks, but are often extremely brittle to lighting, visual distractors, and object locations. These vulnerabilities can depend…

Effective policy learning for robotic manipulation requires scene representations that selectively capture task-relevant environmental features. Current approaches typically employ task-agnostic representation extraction, failing to emulate…

Most reinforcement learning algorithms are based on a key assumption that Markov decision processes (MDPs) are stationary. However, non-stationary MDPs with dynamic action space are omnipresent in real-world scenarios. Yet problems of…

We propose AdapTok, an adaptive temporal causal video tokenizer that can flexibly allocate tokens for different frames based on video content. AdapTok is equipped with a block-wise masking strategy that randomly drops tail tokens of each…

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…

Cameras are increasingly being deployed in cities, enterprises and roads world-wide to enable many applications in public safety, intelligent transportation, retail, healthcare and manufacturing. Often, after initial deployment of the…

Existing GUI agent models relying on coordinate-based one-step visual grounding struggle with generalizing to varying input resolutions and aspect ratios. Alternatives introduce coordinate-free strategies yet suffer from learning under…

Data-driven approaches struggle with precise manipulation; imitation learning requires many hard-to-obtain demonstrations, while reinforcement learning yields brittle, non-generalizable policies. We introduce VisuoTactile Local (ViTaL)…

Knowledge tracing (KT) refers to the problem of predicting future learner performance given their past performance in educational applications. Recent developments in KT using flexible deep neural network-based models excel at this task.…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…

Dense prediction tasks are a fundamental class of problems in computer vision. As supervised methods suffer from high pixel-wise labeling cost, a few-shot learning solution that can learn any dense task from a few labeled images is desired.…

In this paper, we introduce Attention Prompt Tuning (APT) - a computationally efficient variant of prompt tuning for video-based applications such as action recognition. Prompt tuning approaches involve injecting a set of learnable prompts…