相关论文: SCAR: Self-Supervised Continuous Action Representa…

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning…

Unified multimodal models can encode visual understanding and image generation within a shared backbone, yet understanding does not automatically translate into control: models may infer objects, relations, or knowledge cues but fail to…

A major challenge in modern reinforcement learning (RL) is efficient control of dynamical systems from high-dimensional sensory observations. Learning controllable embedding (LCE) is a promising approach that addresses this challenge by…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

We present SPAR, a framework for self-supervised placement-aware representation learning in distributed sensing. Distributed sensing spans applications where multiple spatially distributed and multimodal sensors jointly observe an…

We present a cross-modal Transformer-based framework, which jointly encodes video data and text labels for zero-shot action recognition (ZSAR). Our model employs a conceptually new pipeline by which visual representations are learned in…

Latent action learning infers pseudo-action labels from visual transitions, providing an approach to leverage internet-scale video for embodied AI. However, most methods learn latent actions without structural priors that encode the…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

Reinforcement Learning (RL) has achieved remarkable success in various continuous control tasks, such as robot manipulation and locomotion. Different to mainstream RL which makes decisions at individual steps, recent studies have…

Previous work on action representation learning focused on global representations for short video clips. In contrast, many practical applications, such as video alignment, strongly demand learning the intensive representation of long…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

Random delays weaken the temporal correspondence between actions and subsequent state feedback, making it difficult for agents to identify the true propagation process of action effects. In cross-task scenarios, changes in task objectives…

Learning identifiable representations and models from low-level observations is helpful for an intelligent spacecraft to complete downstream tasks reliably. For temporal observations, to ensure that the data generating process is provably…

Intelligent agents can learn to represent the action spaces of other agents simply by observing them act. Such representations help agents quickly learn to predict the effects of their own actions on the environment and to plan complex…

Current efforts to learn scalable policies in robotic manipulation primarily fall into two categories: one focuses on "action," which involves behavior cloning from extensive collections of robotic data, while the other emphasizes "vision,"…

Object recognition and motion understanding are key components of perception that complement each other. While self-supervised learning methods have shown promise in their ability to learn from unlabeled data, they have primarily focused on…

Action anticipation is the task of forecasting future activity from a partially observed sequence of events. However, this task is exposed to intrinsic future uncertainty and the difficulty of reasoning upon interconnected actions. Unlike…

Developing autonomous off-road mobility typically requires either extensive, platform-specific data collection or relies on simplified abstractions, such as unicycle or bicycle models, that fail to capture the complex kinodynamics of…

Cross-embodiment learning from human demonstrations is hindered by the visual gap between human and robot embodiments. While self-supervised learning (SSL) backbones encode rich inter-class semantics of general objects, we show they fail to…