相关论文: Flow-Enabled Generalization to Human Demonstration…

Learning latent actions from large-scale videos is crucial for the pre-training of scalable embodied foundation models, yet existing methods often struggle with action-irrelevant distractors. Although incorporating action supervision can…

In-context learning (ICL) is a type of prompting where a transformer model operates on a sequence of (input, output) examples and performs inference on-the-fly. In this work, we formalize in-context learning as an algorithm learning problem…

Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Interactive Imitation Learning (IIL) is a branch of Imitation Learning (IL) where human feedback is provided intermittently during robot execution allowing an online improvement of the robot's behavior. In recent years, IIL has increasingly…

Humans can efficiently extract knowledge and learn skills from the videos within only a few trials and errors. However, it poses a big challenge to replicate this learning process for autonomous agents, due to the complexity of visual…

In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…

Predictive learning ideally builds the world model of physical processes in one or more given environments. Typical setups assume that we can collect data from all environments at all times. In practice, however, different prediction tasks…

Large Vision Models trained on internet-scale data have demonstrated strong capabilities in segmenting and semantically understanding object parts, even in cluttered, crowded scenes. However, while these models can direct a robot toward the…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

Few-shot continual learning (FSCL) has attracted intensive attention and achieved some advances in recent years, but now it is difficult to again make a big stride in accuracy due to the limitation of only few-shot incremental samples.…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Diffusion-based unsupervised image registration has been explored for cardiac cine MR, but expensive multi-step inference limits practical use. We propose FlowReg, a flow-matching framework in displacement field space that achieves strong…

Understanding how humans evaluate robot behavior during human-robot interactions is crucial for developing socially aware robots that behave according to human expectations. While the traditional approach to capturing these evaluations is…

Predicting the spatiotemporal variation in streamflow along with uncertainty quantification enables decision-making for sustainable management of scarce water resources. Process-based hydrological models (aka physics-based models) are based…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

Imitation Learning from Observation (IfO) offers a powerful way to learn behaviors at large-scale: Unlike behavior cloning or offline reinforcement learning, IfO can leverage action-free demonstrations and thus circumvents the need for…

Generalizing policies to unseen scenarios remains a critical challenge in visual reinforcement learning, where agents often overfit to the specific visual observations of the training environment. In unseen environments, distracting pixels…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…