相关论文: SegDAC: Visual Generalization in Reinforcement Lea…

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…

We present an approach for reconfiguration of dynamic visual sensor networks with deep reinforcement learning (RL). Our RL agent uses a modified asynchronous advantage actor-critic framework and the recently proposed Relational Network…

Recent advances in language modeling have witnessed the rise of highly desirable emergent capabilities, such as reasoning and in-context learning. However, vision models have yet to exhibit comparable progress in these areas. In this paper,…

The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning…

Video Object Segmentation (VOS) is an active research area of the visual domain. One of its fundamental sub-tasks is semi-supervised / one-shot learning: given only the segmentation mask for the first frame, the task is to provide…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

Vision-language models are increasingly employed as multimodal conversational agents (MCAs) for diverse conversational tasks. Recently, reinforcement learning (RL) has been widely explored for adapting MCAs to various human-AI interaction…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

In incremental learning, enhancing the generality of knowledge is crucial for adapting to dynamic data inputs. It can develop generalized representations or more balanced decision boundaries, preventing the degradation of long-term…

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…

We tackle the problem of learning robotic sensorimotor control policies that can generalize to visually diverse and unseen environments. Achieving broad generalization typically requires large datasets, which are difficult to obtain for…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Referring-based Video Object Segmentation is a multimodal problem that requires producing fine-grained segmentation results guided by external cues. Traditional approaches to this task typically involve training specialized models, which…

Generalization has been a long-standing challenge for reinforcement learning (RL). Visual RL, in particular, can be easily distracted by irrelevant factors in high-dimensional observation space. In this work, we consider robust policy…

We present Seg-R1, a preliminary exploration of using reinforcement learning (RL) to enhance the pixel-level understanding and reasoning capabilities of large multimodal models (LMMs). Starting with foreground segmentation tasks,…

Segment Anything Model 2 (SAM 2) has demonstrated strong performance in object segmentation tasks and has become the state-of-the-art for visual object tracking. The model stores information from previous frames in a memory bank, enabling…