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

Video-based dialog task is a challenging multimodal learning task that has received increasing attention over the past few years with state-of-the-art obtaining new performance records. This progress is largely powered by the adaptation of…

In this paper we introduce a fully end-to-end approach for visual tracking in videos that learns to predict the bounding box locations of a target object at every frame. An important insight is that the tracking problem can be considered as…

Humans acquire semantic object representations from egocentric visual streams with minimal supervision, but the underlying mechanisms remain unclear. Importantly, the visual system only processes the center of its field of view with high…

If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…

We present a generic Reinforcement Learning (RL) framework optimized for crafting adversarial attacks on different model types spanning from ECG signal analysis (1D), image classification (2D), and video classification (3D). The framework…

Approaching robotic cloth manipulation using reinforcement learning based on visual feedback is appealing as robot perception and control can be learned simultaneously. However, major challenges result due to the intricate dynamics of cloth…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

Recent advancements in large video-language models have revolutionized video understanding tasks. However, their efficiency is significantly constrained by processing high volumes of visual tokens. Existing token compression strategies…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Generative models have made significant progress in synthesizing visual content, including images, videos, and 3D/4D structures. However, they are typically trained with surrogate objectives such as likelihood or reconstruction loss, which…

Fully test-time adaptation aims to adapt the network model based on sequential analysis of input samples during the inference stage to address the cross-domain performance degradation problem of deep neural networks. This work is based on…

We introduce Act2Vec, a general framework for learning context-based action representation for Reinforcement Learning. Representing actions in a vector space help reinforcement learning algorithms achieve better performance by grouping…

Vision Transformers (ViTs) have shown success across a variety of tasks due to their ability to capture global image representations. Recent studies have identified the existence of high-norm tokens in ViTs, which can interfere with…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Despite the extensive adoption of machine learning on the task of visual object tracking, recent learning-based approaches have largely overlooked the fact that visual tracking is a sequence-level task in its nature; they rely heavily on…

Learning-based approaches for semantic segmentation have two inherent challenges. First, acquiring pixel-wise labels is expensive and time-consuming. Second, realistic segmentation datasets are highly unbalanced: some categories are much…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Deep Reinforcement Learning (RL) models often fail to generalize when even small changes occur in the environment's observations or task requirements. Addressing these shifts typically requires costly retraining, limiting the reusability of…

This paper investigates the idea of encoding object-centered representations in the design of the reward function and policy architectures of a language-guided reinforcement learning agent. This is done using a combination of object-wise…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…