相关论文: History-Aware Visuomotor Policy Learning via Point…

Experiments, in particular on biological systems, typically probe lower-dimensional observables which are projections of high-dimensional dynamics. In order to infer consistent models capturing the relevant dynamics of the system, it is…

Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…

We propose a simple yet effective approach for few-shot action recognition, emphasizing the disentanglement of motion and appearance representations. By harnessing recent progress in tracking, specifically point trajectories and…

We propose an online tracking algorithm that performs the object detection and data association under a common framework, capable of linking objects after a long time span. This is realized by preserving a large spatio-temporal memory to…

Points-to analysis is the problem of approximating run-time values of pointers statically or at compile-time. Points-to sets are used to store the approximated values of pointers during points-to analysis. Memory usage and running time…

The idea of reusing or transferring information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency of a reinforcement learning agent. In…

Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of…

Target-driven visual navigation aims at navigating an agent towards a given target based on the observation of the agent. In this task, it is critical to learn informative visual representation and robust navigation policy. Aiming to…

The ability to recognize, localize and track dynamic objects in a scene is fundamental to many real-world applications, such as self-driving and robotic systems. Yet, traditional multiple object tracking (MOT) benchmarks rely only on a few…

Being hit by a ball is usually not a pleasant experience. While a ball may not be fatal, other objects can be. To protect themselves, many organisms, from humans to insects, have developed neuronal mechanisms to signal approaching objects…

Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

We present a framework capable of tackilng the problem of continual object recognition in a setting which resembles that under whichhumans see and learn. This setting has a set of unique characteristics:it assumes an egocentric…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…

Contrastive representation learning has emerged as a promising technique for continual learning as it can learn representations that are robust to catastrophic forgetting and generalize well to unseen future tasks. Previous work in…

We propose Token Turing Machines (TTM), a sequential, autoregressive Transformer model with memory for real-world sequential visual understanding. Our model is inspired by the seminal Neural Turing Machine, and has an external memory…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…