相关论文: Attentive Feature Aggregation or: How Policies Lea…

Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or…

Aggregating information from features across different layers is an essential operation for dense prediction models. Despite its limited expressiveness, feature concatenation dominates the choice of aggregation operations. In this paper, we…

Facial Expression Recognition (FER) in the wild is an extremely challenging task. Recently, some Vision Transformers (ViT) have been explored for FER, but most of them perform inferiorly compared to Convolutional Neural Networks (CNN). This…

The human brain uses selective attention to filter perceptual input so that only the components that are useful for behaviour are processed using its limited computational resources. We focus on one particular form of visual attention known…

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models…

Image-based Reinforcement Learning is known to suffer from poor sample efficiency and generalisation to unseen visuals such as distractors (task-independent aspects of the observation space). Visual domain randomisation encourages transfer…

Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learning. While recent rectified flow approaches have advanced visuomotor policy learning, they suffer from a key limitation: After…

Active feature acquisition (AFA) is an instance-adaptive paradigm in which, at inference time, a policy sequentially chooses which features to acquire (at a cost) before predicting. Existing approaches either train reinforcement learning…

Active feature acquisition (AFA) considers prediction problems in which features are costly to obtain and the learner adaptively decides which feature values to acquire for each instance and when to stop and predict. AFA can be formulated…

Overfitting in RL has become one of the main obstacles to applications in reinforcement learning(RL). Existing methods do not provide explicit semantic constrain for the feature extractor, hindering the agent from learning a unified…

Visual Place Recognition (VPR) is a crucial component of many visual localization pipelines for embodied agents. VPR is often formulated as an image retrieval task aimed at jointly learning local features and an aggregation method. The…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Truly intelligent systems are expected to make critical decisions with incomplete and uncertain data. Active feature acquisition (AFA), where features are sequentially acquired to improve the prediction, is a step towards this goal.…

Learning invariant representations from images is one of the hardest challenges facing computer vision. Spatial pooling is widely used to create invariance to spatial shifting, but it is restricted to convolutional models. In this paper, we…

For many computer vision applications, such as image description and human identification, recognizing the visual attributes of humans is an essential yet challenging problem. Its challenges originate from its multi-label nature, the large…

Operating in unstructured environments like households requires robotic policies that are robust to out-of-distribution conditions. Although much work has been done in evaluating robustness for visuomotor policies, the robustness evaluation…

We focus on the audio-visual video parsing (AVVP) problem that involves detecting audio and visual event labels with temporal boundaries. The task is especially challenging since it is weakly supervised with only event labels available as a…

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise…

In real-world scenarios, multi-view cameras are typically employed for fine-grained manipulation tasks. Existing approaches (e.g., ACT) tend to treat multi-view features equally and directly concatenate them for policy learning. However, it…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…