相关论文: AutoFocus-IL: VLM-based Saliency Maps for Data-Eff…

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Video action localization aims to find the timings of specific actions from a long video. Although existing learning-based approaches have been successful, they require annotating videos, which comes with a considerable labor cost. This…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Traditional image annotation tasks rely heavily on human effort for object selection and label assignment, making the process time-consuming and prone to decreased efficiency as annotators experience fatigue after extensive work. This paper…

Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…

Behavioral cloning has proven to be effective for learning sequential decision-making policies from expert demonstrations. However, behavioral cloning often suffers from the causal confusion problem where a policy relies on the noticeable…

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to…

Image-based visual-language (I-VL) pre-training has shown great success for learning joint visual-textual representations from large-scale web data, revealing remarkable ability for zero-shot generalisation. This paper presents a simple but…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

When intelligent agents learn visuomotor behaviors from human demonstrations, they may benefit from knowing where the human is allocating visual attention, which can be inferred from their gaze. A wealth of information regarding intelligent…

Prior work in multi-task learning has mainly focused on predictions on a single image. In this work, we present a new approach for multi-task learning from videos via efficient inter-frame local attention (MILA). Our approach contains a…

The Large Vision-Language Model (LVLM) integrates computer vision and natural language processing techniques, offering substantial application potential. However, these models demand extensive resources during inference. Adaptive attention…

We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective…

Vision-Language-Action (VLA) models aim for general robot learning by aligning action as a modality within powerful Vision-Language Models (VLMs). Existing VLAs rely on end-to-end supervision to implicitly enable the action decoding process…

Human gaze is known to be an intention-revealing signal in human demonstrations of tasks. In this work, we use gaze cues from human demonstrators to enhance the performance of agents trained via three popular imitation learning methods --…

Predicting attention is a popular topic at the intersection of human and computer vision. However, even though most of the available video saliency data sets and models claim to target human observers' fixations, they fail to differentiate…

Multimodal Large Language Models (MLLMs) excel in numerous vision-language tasks yet suffer from hallucinations, producing content inconsistent with input visuals, that undermine reliability in precision-sensitive domains. This issue stems…