相关论文: Non-expert to Expert Motion Translation Using Gene…

It's useful to automatically transform an image from its original form to some synthetic form (style, partial contents, etc.), while keeping the original structure or semantics. We define this requirement as the "image-to-image translation"…

Attacking Neural Machine Translation models is an inherently combinatorial task on discrete sequences, solved with approximate heuristics. Most methods use the gradient to attack the model on each sample independently. Instead of…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

Neural networks are susceptible to adversarial perturbations that are transferable across different models. In this paper, we introduce a novel model alignment technique aimed at improving a given source model's ability in generating…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

Implicit generative models have the capability to learn arbitrary complex data distributions. On the downside, training requires telling apart real data from artificially-generated ones using adversarial discriminators, leading to unstable…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

Human motion retargeting for humanoid robots, transferring human motion data to robots for imitation, presents significant challenges but offers considerable potential for real-world applications. Traditionally, this process relies on human…

The idea of style transfer has largely only been explored in image-based tasks, which we attribute in part to the specific nature of loss functions used for style transfer. We propose a general formulation of style transfer as an extension…

Deep neural networks are vulnerable to adversarial examples, which can mislead classifiers by adding imperceptible perturbations. An intriguing property of adversarial examples is their good transferability, making black-box attacks…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

Image-to-image translation is a class of vision and graphics problems where the goal is to learn the mapping between an input image and an output image using a training set of aligned image pairs. However, for many tasks, paired training…

State-of-the-art techniques in Generative Adversarial Networks (GANs) have shown remarkable success in image-to-image translation from peer domain X to domain Y using paired image data. However, obtaining abundant paired data is a…

We propose an interactive-predictive neural machine translation framework for easier model personalization using reinforcement and imitation learning. During the interactive translation process, the user is asked for feedback on uncertain…

When robots work in a cluttered environment, the constraints for motions change frequently and the required action can change even for the same task. However, planning complex motions from direct calculation has the risk of resulting in…

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…

In learning from demonstrations, many generative models of trajectories make simplifying assumptions of independence. Correctness is sacrificed in the name of tractability and speed of the learning phase. The ignored dependencies, which…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…