相关论文: Enhancing Vision-Based Policies with Omni-View and…

Neural dialogue models suffer from low-quality responses when interacted in practice, demonstrating difficulty in generalization beyond training data. Recently, knowledge distillation has been used to successfully regularize the student by…

The focal point of egocentric video understanding is modelling hand-object interactions. Standard models, e.g. CNNs or Vision Transformers, which receive RGB frames as input perform well. However, their performance improves further by…

Multimodal Deep Learning has garnered much interest, and transformers have triggered novel approaches, thanks to the cross-attention mechanism. Here we propose an approach to deal with two key existing challenges: the high computational…

Training vision-language models (VLMs) for complex reasoning remains a challenging task, i.a. due to the scarcity of high-quality image-text reasoning data. Conversely, text-based reasoning resources are abundant and scalable, but it is…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics. With the rapid advancement of reinforcement learning,…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…

Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling behavior, and underlying mechanisms of multi-view data for…

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In…

Vision-Language Models (VLMs) bring powerful understanding and reasoning capabilities to multimodal tasks. Meanwhile, the great need for capable aritificial intelligence on mobile devices also arises, such as the AI assistant software. Some…

Pedestrian trajectory forecasting is crucial in various applications such as autonomous driving and mobile robot navigation. In such applications, camera-based perception enables the extraction of additional modalities (human pose, text) to…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance…

Knowledge distillation is an effective method for training small and efficient deep learning models. However, the efficacy of a single method can degenerate when transferring to other tasks, modalities, or even other architectures. To…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Achieving versatile humanoid locomotion with a single policy presents a critical scalability challenge. Prevailing methods often rely on distilling multiple terrain-specific teacher policies into a unified student policy. However, while…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

In multi-task reinforcement learning there are two main challenges: at training time, the ability to learn different policies with a single model; at test time, inferring which of those policies applying without an external signal. In the…