相关论文: Phase-Conditioned Imitation Learning with Autonomo…

This paper presents PRISM: an instruction-conditioned refinement method for imitation policies in robotic manipulation. This approach bridges Imitation Learning (IL) and Reinforcement Learning (RL) frameworks into a seamless pipeline, such…

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…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces,…

This paper presents the World-Action Model (WAM), an action-regularized world model that jointly reasons over future visual observations and the actions that drive state transitions. Unlike conventional world models trained solely via image…

Human actions manipulating articulated objects, such as opening and closing a drawer, can be categorized into multiple modalities we define as interaction modes. Traditional robot learning approaches lack discrete representations of these…

Learning representations that accurately capture long-range dependencies in sequential inputs -- including text, audio, and genomic data -- is a key problem in deep learning. Feed-forward convolutional models capture only feature…

Solving real-life sequential decision making problems under partial observability involves an exploration-exploitation problem. To be successful, an agent needs to efficiently gather valuable information about the state of the world for…

Real-world multi-agent reinforcement learning (MARL) systems must often operate under stale observations, stochastic communication delays, and intermittent packet loss. Policies trained under idealized synchronous conditions frequently…

Optical sensing technologies are emerging technologies used in cancer surgeries to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential applications, incorporating automated large area scanning…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

Safely navigating through an urban environment without violating any traffic rules is a crucial performance target for reliable autonomous driving. In this paper, we present a Reinforcement Learning (RL) based methodology to DEtect and FIX…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

With the rapid progress of generative models, the current challenge in face forgery detection is how to effectively detect realistic manipulated faces from different unseen domains. Though previous studies show that pre-trained Vision…

Vision-language models (VLMs) like CLIP excel in zero-shot learning but often require resource-intensive training to adapt to new tasks. Prompt learning techniques, such as CoOp and CoCoOp, offer efficient adaptation but tend to overfit to…

Manipulating objects without grasping them enables more complex tasks, known as non-prehensile manipulation. Most previous methods only learn one manipulation skill, such as reach or push, and cannot achieve flexible object manipulation.In…

Traditionally, reinforcement learning methods predict the next action based on the current state. However, in many situations, directly applying actions to control systems or robots is dangerous and may lead to unexpected behaviors because…

This paper aims at recognizing partially observed human actions in videos. Action videos acquired in uncontrolled environments often contain corrupt frames, which make actions partially observed. Furthermore, these frames can last for…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

When human acquire physical skills (e.g., tennis) from experts, we tend to first learn from merely observing the expert. But this is often insufficient. We then engage in practice, where we try to emulate the expert and ensure that our…