相关论文: Meta-learning enhanced adaptive robot control stra…

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…

We demonstrate that embedding physics-driven constraints into machine learning process can dramatically improve accuracy and generalizability of the resulting model. Physics-informed learning is illustrated on the example of analysis of…

Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…

In this paper, a progress recognition method consider occlusion using deep metric learning is proposed to visualize the product assembly process in a factory. First, the target assembly product is detected from images acquired from a…

The etching process is one of the most important processes in semiconductor manufacturing. We have introduced the state-of-the-art deep learning model to predict the etching profiles. However, the significant problems violating physics have…

Quality control is a critical aspect of manufacturing, particularly in ensuring the proper assembly of small components in production lines. Existing solutions often rely on single-view imaging or manual inspection, which are prone to…

We have developed an algorithm that constructs a model of a reconfigurable optical interferometer, independent of specific architectural constraints. The programming of unitary transformations on the interferometer's optical modes relies on…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Visual Prompt Tuning (VPT) is an effective tuning method for adapting pretrained Vision Transformers (ViTs) to downstream tasks. It leverages extra learnable tokens, known as prompts, which steer the frozen pretrained ViTs. Although VPT has…

Features in machine learning problems are often time-varying and may be related to outputs in an algebraic or dynamical manner. The dynamic nature of these machine learning problems renders current higher order accelerated gradient descent…

We introduce associative embedding, a novel method for supervising convolutional neural networks for the task of detection and grouping. A number of computer vision problems can be framed in this manner including multi-person pose…

Machine learning assumes a pivotal role in our data-driven world. The increasing scale of models and datasets necessitates quick and reliable algorithms for model training. This dissertation investigates adaptivity in machine learning…

Non-rigid registration is a necessary but challenging task in medical imaging studies. Recently, unsupervised registration models have shown good performance, but they often require a large-scale training dataset and long training times.…

Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…

Learning object-level, structured representations is widely regarded as a key to better generalization in vision and underpins the design of next-generation Pre-trained Vision Models (PVMs). Mainstream Object-Centric Learning (OCL) methods…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…