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

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

This paper introduces a novel visual mapping methodology for assessing strategic alignment in national artificial intelligence policies. The proliferation of AI strategies across countries has created an urgent need for analytical…

Multi-task learning (MTL) jointly learns a set of tasks by sharing parameters among tasks. It is a promising approach for reducing storage costs while improving task accuracy for many computer vision tasks. The effective adoption of MTL…

Automating garment manipulation poses a significant challenge for assistive robotics due to the diverse and deformable nature of garments. Traditional approaches typically require separate models for each garment type, which limits…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

Humans often resolve visual uncertainty by comparing an image with relevant examples, but ViTs lack the ability to identify which examples would improve their predictions. We present Task-Aligned Context Selection (TACS), a framework that…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

Recent research has shown that large language models pretrained using unsupervised approaches can achieve significant performance improvement on many downstream tasks. Typically when adapting these language models to downstream tasks, like…

Temporal modeling is crucial for various video learning tasks. Most recent approaches employ either factorized (2D+1D) or joint (3D) spatial-temporal operations to extract temporal contexts from the input frames. While the former is more…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.e., the state) are relevant to the task. But there are also…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

Achieving human-level intelligence requires refining cognitive distinctions between System 1 and System 2 thinking. While contemporary AI, driven by large language models, demonstrates human-like traits, it falls short of genuine cognition.…

Although numerous strategies have recently been proposed to enhance the autonomous interaction capabilities of multimodal agents in graphical user interface (GUI), their reliability remains limited when faced with complex or out-of-domain…

End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually directly applied without considering the uncertainty of the…

In the last decade many different algorithms have been proposed to track a generic object in videos. Their execution on recent large-scale video datasets can produce a great amount of various tracking behaviours. New trends in Reinforcement…

Quality-Diversity (QD) algorithms have shown remarkable success in discovering diverse, high-performing solutions, but rely heavily on hand-crafted behavioral descriptors that constrain exploration to predefined notions of diversity.…

We propose a simple yet effective approach for few-shot action recognition, emphasizing the disentanglement of motion and appearance representations. By harnessing recent progress in tracking, specifically point trajectories and…