相关论文: Enhancing Video-Based Robot Failure Detection Usin…

Video large language models have achieved remarkable performance in tasks such as video question answering, however, their temporal understanding remains suboptimal. To address this limitation, we curate a dedicated instruction fine-tuning…

Robots are prone to making errors, which can negatively impact their credibility as teammates during collaborative tasks with human users. Detecting and recovering from these failures is crucial for maintaining effective level of trust from…

Every hour, huge amounts of visual contents are posted on social media and user-generated content platforms. To find relevant videos by means of a natural language query, text-video retrieval methods have received increased attention over…

This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…

Language-conditioned robotic manipulation in open-world settings requires not only accurate task execution but also the ability to detect failures for robust deployment in real-world environments. Although recent advances in vision-language…

Automated surgical workflow analysis is crucial for education, research, and clinical decision-making, but the lack of annotated datasets hinders the development of accurate and comprehensive workflow analysis solutions. We introduce a…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

In this paper, we present a global-to-local task-aware fault detection and identification algorithm to detect failures in a multi-spacecraft system performing a collaborative inspection (referred to as global) task. The inspection task is…

Evaluating the robustness of Video classification models is very challenging, specifically when compared to image-based models. With their increased temporal dimension, there is a significant increase in complexity and computational cost.…

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…

In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…

We address the problem of data augmentation for video action recognition. Standard augmentation strategies in video are hand-designed and sample the space of possible augmented data points either at random, without knowing which augmented…

Detecting salient objects from a video requires exploiting both spatial and temporal knowledge included in the video. We propose a novel region-based multiscale spatiotemporal saliency detection method for videos, where static features and…

We consider the problem of video-based person re-identification. The goal is to identify a person from videos captured under different cameras. In this paper, we propose an efficient spatial-temporal attention based model for person…

Learning from demonstration is a promising approach for teaching robots new skills. However, a central challenge in the execution of acquired skills is the ability to recognize faults and prevent failures. This is essential because…

Reinforcement learning has been demonstrated as a flexible and effective approach for learning a range of continuous control tasks, such as those used by robots to manipulate objects in their environment. But in robotics particularly,…

Extending the abilities of service robots is important for expanding what they can achieve in everyday manipulation tasks. On the other hand, it is also essential to ensure them to determine what they can not achieve in certain cases due to…

This paper studies the joint learning of action recognition and temporal localization in long, untrimmed videos. We employ a multi-task learning framework that performs the three highly related steps of action proposal, action recognition,…

Designing dense rewards is crucial for reinforcement learning (RL), yet in robotics it often demands extensive manual effort and lacks scalability. One promising solution is to view task progress as a dense reward signal, as it quantifies…

Learning from Demonstration (LfD) empowers robots to acquire new skills through human demonstrations, making it feasible for everyday users to teach robots. However, the success of learning and generalization heavily depends on the quality…