相关论文: Invariance Co-training for Robot Visual Generaliza…

Self-supervised learning is a powerful paradigm for representation learning on unlabelled images. A wealth of effective new methods based on instance matching rely on data-augmentation to drive learning, and these have reached a rough…

Due to the realization that deep reinforcement learning algorithms trained on high-dimensional tasks can strongly overfit to their training environments, there have been several studies that investigated the generalization performance of…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

Machine learning models trained with purely observational data and the principle of empirical risk minimization \citep{vapnik_principles_1992} can fail to generalize to unseen domains. In this paper, we focus on the case where the problem…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

We study the problem of generalizable task learning from human demonstration videos without extra training on the robot or pre-recorded robot motions. Given a set of human demonstration videos showing a task with different objects/tools…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

While agents trained by Reinforcement Learning (RL) can solve increasingly challenging tasks directly from visual observations, generalizing learned skills to novel environments remains very challenging. Extensive use of data augmentation…

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…

Deep Reinforcement Learning has shown great success in a variety of control tasks. However, it is unclear how close we are to the vision of putting Deep RL into practice to solve real world problems. In particular, common practice in the…

Although deep networks have significantly increased the performance of visual recognition methods, it is still challenging to achieve the robustness across visual domains that is necessary for real-world applications. To tackle this issue,…

Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datasets, has become a prominent area of interest in robot…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for…

The utilization of broad datasets has proven to be crucial for generalization for a wide range of fields. However, how to effectively make use of diverse multi-task data for novel downstream tasks still remains a grand challenge in…