相关论文: Designing Latent Safety Filters using Pre-Trained …

Safety validation is important during the development of safety-critical autonomous systems but can require significant computational effort. Existing algorithms often start from scratch each time the system under test changes. We apply…

The lack of trust in algorithms is usually an issue when using Reinforcement Learning (RL) agents for control in real-world domains such as production plants, autonomous vehicles, or traffic-related infrastructure, partly due to the lack of…

This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world models provide the ability to imagine the near future by…

The use of pretrained embeddings has become widespread in modern e-commerce machine learning (ML) systems. In practice, however, we have encountered several key issues when using pretrained embedding in a real-world production system, many…

Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

While computer vision has received increasing attention in computer science over the last decade, there are few efforts in applying this to leverage engineering design research. Existing datasets and technologies allow researchers to…

Using large pre-trained models for image recognition tasks is becoming increasingly common owing to the well acknowledged success of recent models like vision transformers and other CNN-based models like VGG and Resnet. The high accuracy of…

Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…

Modern computer vision is converging on a closed loop in which perception, reasoning and generation mutually reinforce each other. However, this loop remains incomplete: the top-down influence of high-level reasoning on the foundational…

Vision-Language Models (VLMs) have rapidly advanced by leveraging powerful pre-trained Large Language Models (LLMs) as core reasoning backbones. As new and more capable LLMs emerge with improved reasoning, instruction-following, and…

In this short paper, we propose a baseline (off-the-shelf) for Continual Learning of Computer Vision problems, by leveraging the power of pretrained models. By doing so, we devise a simple approach achieving strong performance for most of…

Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…

Ensuring safety is a crucial challenge when deploying reinforcement learning (RL) to real-world systems. We develop confidence-based safety filters, a control-theoretic approach for certifying state safety constraints for nominal policies…

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language…

Humans learn how and when to apply forces in the world via a complex physiological and psychological learning process. Attempting to replicate this in vision-language models (VLMs) presents two challenges: VLMs can produce harmful behavior,…

Visual Foundation Models (VFMs) are becoming ubiquitous in computer vision, powering systems for diverse tasks such as object detection, image classification, segmentation, pose estimation, and motion tracking. VFMs are capitalizing on…

While generative robot policies have demonstrated significant potential in learning complex, multimodal behaviors from demonstrations, they still exhibit diverse failures at deployment-time. Policy steering offers an elegant solution to…

Recent works on parameter-efficient transfer learning (PETL) show the potential to adapt a pre-trained Vision Transformer to downstream recognition tasks with only a few learnable parameters. However, since they usually insert new…

A common practice in transfer learning is to initialize the downstream model weights by pre-training on a data-abundant upstream task. In object detection specifically, the feature backbone is typically initialized with Imagenet classifier…