相关论文: GLUE: Global-Local Unified Encoding for Imitation …

Vision-language tracking has gained increasing attention in many scenarios. This task simultaneously deals with visual and linguistic information to localize objects in videos. Despite its growing utility, the development of vision-language…

Zero-shot object-goal navigation (ZSON) is a challenging problem in robotics that requires a comprehensive understanding of both language and visual observations. Contextual cues from rooms and objects are critical, but their relative…

Recently, contrastive learning (CL) plays an important role in exploring complementary information for multi-view clustering (MVC) and has attracted increasing attention. Nevertheless, real-world multi-view data suffer from data…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

This paper introduces SuperGlue, a neural network that matches two sets of local features by jointly finding correspondences and rejecting non-matchable points. Assignments are estimated by solving a differentiable optimal transport…

Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function as high-level planners, generating intermediate subgoals for…

Offline reinforcement learning (RL) aims to learn an optimal policy from pre-collected and labeled datasets, which eliminates the time-consuming data collection in online RL. However, offline RL still bears a large burden of…

Graph contrastive learning (GCL) has recently emerged as an effective learning paradigm to alleviate the reliance on labelling information for graph representation learning. The core of GCL is to maximise the mutual information between the…

Local feature matching plays a critical role in understanding the correspondence between cross-view images. However, traditional methods are constrained by the inherent local nature of feature descriptors, limiting their ability to capture…

We consider the problem of image representation for the tasks of unsupervised learning and semi-supervised learning. In those learning tasks, the raw image vectors may not provide enough representation for their intrinsic structures due to…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

As we aim at alleviating the curse of high-dimensionality, subspace learning is becoming more popular. Existing approaches use either information about global or local structure of the data, and few studies simultaneously focus on global…

Multi-View Clustering (MVC) has gained significant attention for its ability to leverage complementary information across diverse views. However, existing deep MVC methods often struggle with view-distribution entanglement during cross-view…

Recent advancement of large-scale pretrained models such as BERT, GPT-3, CLIP, and Gopher, has shown astonishing achievements across various task domains. Unlike vision recognition and language models, studies on general-purpose user…

Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Universal graph pre-training has emerged as a key paradigm in graph representation learning, offering a promising way to train encoders to learn transferable representations from unlabeled graphs and to effectively generalize across a wide…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

The need to selectively and efficiently erase learned information from deep neural networks is becoming increasingly important for privacy, regulatory compliance, and adaptive system design. We introduce Graph-Propagated Projection…

Graph Neural Networks (GNNs) have demonstrated significant success in learning from graph-structured data but often struggle on heterophilous graphs, where connected nodes differ in features or class labels. This limitation arises from…