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

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

Improving generalization is one key challenge in embodied AI, where obtaining large-scale datasets across diverse scenarios is costly. Traditional weak augmentations, such as cropping and flipping, are insufficient for improving a model's…

Real-world robotics problems often occur in domains that differ significantly from the robot's prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…

While recent progress has spawned very powerful machine learning systems, those agents remain extremely specialized and fail to transfer the knowledge they gain to similar yet unseen tasks. In this paper, we study a simple reinforcement…

Generalization beyond the training distribution is a core challenge in machine learning. The common practice of mixing and shuffling examples when training neural networks may not be optimal in this regard. We show that partitioning the…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

The idea behind object-centric representation learning is that natural scenes can better be modeled as compositions of objects and their relations as opposed to distributed representations. This inductive bias can be injected into neural…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Inspired by two basic mechanisms in animal visual systems, we introduce a feature transform technique that imposes invariance properties in the training of deep neural networks. The resulting algorithm requires less parameter tuning, trains…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or behavioral distribution shifts, and their performance is…

As the use of deep neural networks continues to grow, understanding their behaviour has become more crucial than ever. Post-hoc explainability methods are a potential solution, but their reliability is being called into question. Our…