相关论文: Is Diversity All You Need for Scalable Robotic Man…

Large data-driven image models are extensively used to support creative and artistic work. Under the currently predominant distribution-fitting paradigm, a dataset is treated as ground truth to be approximated as closely as possible. Yet,…

Humans are able to outperform robots in terms of robustness, versatility, and learning of new tasks in a wide variety of movements. We hypothesize that highly nonlinear muscle dynamics play a large role in providing inherent stability,…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

It has been experimentally observed that distributed implementations of mini-batch stochastic gradient descent (SGD) algorithms exhibit speedup saturation and decaying generalization ability beyond a particular batch-size. In this work, we…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Transfer learning is a powerful technique for knowledge-sharing between different tasks. Recent work has found that the representations of models with certain invariances, such as to adversarial input perturbations, achieve higher…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

Power-law scaling indicates that large-scale training with uniform sampling is prohibitively slow. Active learning methods aim to increase data efficiency by prioritizing learning on the most relevant examples. Despite their appeal, these…

As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks, though effective on specific platforms, require extensive…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

Distributed optimization algorithms are widely used in machine learning. This paper investigates how a small amount of data sharing can improve their performance. Focusing on general linear models, we analyze the effects of data sharing on…

Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Massive web-crawled image-text datasets lay the foundation for recent progress in multimodal learning. These datasets are designed with the goal of training a model to do well on standard computer vision benchmarks, many of which, however,…

The success of vision-language models is primarily attributed to effective alignment across modalities such as vision and language. However, modality gaps persist in existing alignment algorithms and appear necessary for human perception as…

Robots should be able to learn complex behaviors from human demonstrations. In practice, these human-provided datasets are inevitably imbalanced: i.e., the human demonstrates some subtasks more frequently than others. State-of-the-art…

Self-supervised learning aims to learn representations from the data itself without explicit manual supervision. Existing efforts ignore a crucial aspect of self-supervised learning - the ability to scale to large amount of data because…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…