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

Realizing active visual tracking with a single unified model across diverse robots is challenging, as the physical constraints and motion dynamics vary drastically from one platform to another. Existing approaches typically train separate…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Traffic simulation aims to learn a policy for traffic agents that, when unrolled in closed-loop, faithfully recovers the joint distribution of trajectories observed in the real world. Inspired by large language models, tokenized multi-agent…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Many dynamic decision problems, such as robotic control, involve a series of tasks, many of which are unknown at training time. Typical approaches for these problems, such as multi-task and meta reinforcement learning, do not generalize…

Real-world artificial intelligence (AI) systems are increasingly required to operate autonomously in dynamic, uncertain, and continuously changing environments. However, most existing AI models rely on predefined objectives, static training…

Vision-Language Models (VLMs), such as CLIP, have achieved significant zero-shot performance on downstream tasks with various fine-tuning adaptation methods. However, recent studies have proven that adversarial attacks can significantly…

Recent advances in image synthesis have been propelled by powerful generative models, such as Masked Generative Transformers (MaskGIT), autoregressive models, diffusion models, and rectified flow models. A common principle behind their…

Vision Transformers (ViTs) have emerged as powerful models in the field of computer vision, delivering superior performance across various vision tasks. However, the high computational complexity poses a significant barrier to their…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

Deep reinforcement learning, applied to vision-based problems like Atari games, maps pixels directly to actions; internally, the deep neural network bears the responsibility of both extracting useful information and making decisions based…

Vision-language model (VLM) based GUI agents show promise for automating complex desktop and mobile tasks, but face significant challenges in applying reinforcement learning (RL): (1) slow multi-turn interactions with GUI environments for…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Policy gradient methods are an appealing approach in reinforcement learning because they directly optimize the cumulative reward and can straightforwardly be used with nonlinear function approximators such as neural networks. The two main…

Parameter efficient transfer learning (PETL) is an emerging research spot that aims to adapt large-scale pre-trained models to downstream tasks. Recent advances have achieved great success in saving storage and computation costs. However,…

We solve active target tracking, one of the essential tasks in autonomous systems, using a deep reinforcement learning (RL) approach. In this problem, an autonomous agent is tasked with acquiring information about targets of interests using…