相关论文: SID: Sliding into Distribution for Robust Few-Demo…

In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…

Highly complex deep learning models are increasingly integrated into modern cyber-physical systems (CPS), many of which have strict safety requirements. One problem arising from this is that deep learning lacks interpretability, operating…

In the field of Machine Learning (ML) and data-driven applications, one of the significant challenge is the change in data distribution between the training and deployment stages, commonly known as distribution shift. This paper outlines…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

Out-of-distribution (OOD) robustness is a critical challenge for modern machine learning systems, particularly as they increasingly operate in multimodal settings involving inputs like video, audio, and sensor data. Currently, many OOD…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

As point cloud data increases in prevalence in a variety of applications, the ability to detect out-of-distribution (OOD) point cloud objects becomes critical for ensuring model safety and reliability. However, this problem remains…

Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its effects on the learned policy remain inconsistent: some…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…

Distribution shifts between operational domains can severely affect the performance of learned models in self-driving vehicles (SDVs). While this is a well-established problem, prior work has mostly explored naive solutions such as…

Deep neural networks have attained remarkable performance when applied to data that comes from the same distribution as that of the training set, but can significantly degrade otherwise. Therefore, detecting whether an example is…

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…

Robots could learn their own state and world representation from perception and experience without supervision. This desirable goal is the main focus of our field of interest, state representation learning (SRL). Indeed, a compact…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Bridging the microscopic and macroscopic modelling scales in crowd dynamics constitutes an open challenge for systematic numerical analysis, optimization, and control. Here, we propose a manifold-informed machine learning approach to learn…

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

Out-of-distribution (OOD) detection aims to detect "unknown" data whose labels have not been seen during the in-distribution (ID) training process. Recent progress in representation learning gives rise to distance-based OOD detection that…