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Dynamic Metric Learning: Towards a Scalable Metric Space to Accommodate Multiple Semantic Scales
This paper introduces a new fundamental characteristic, , the dynamic ra...
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Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Evolution in nature illustrates that the creatures' biological structure...
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Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
We present a visually grounded hierarchical planning algorithm for long-...
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Learning Multi-Arm Manipulation Through Collaborative Teleoperation
Imitation Learning (IL) is a powerful paradigm to teach robots to perfor...
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Human-in-the-Loop Imitation Learning using Remote Teleoperation
Imitation Learning is a promising paradigm for learning complex robot ma...
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Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
Using sensor data from multiple modalities presents an opportunity to en...
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Deep Affordance Foresight: Planning Through What Can Be Done in the Future
Planning in realistic environments requires searching in large planning ...
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Fast Uncertainty Quantification for Deep Object Pose Estimation
Deep learning-based object pose estimators are often unreliable and over...
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Bongard-LOGO: A New Benchmark for Human-Level Concept Learning and Reasoning
Humans have an inherent ability to learn novel concepts from only a few ...
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robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
robosuite is a simulation framework for robot learning powered by the Mu...
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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
We present a hierarchical framework that combines model-based control an...
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OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation
Real-world tasks often exhibit a compositional structure that contains a...
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Spherical Feature Transform for Deep Metric Learning
Data augmentation in feature space is effective to increase data diversi...
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Adaptive Procedural Task Generation for Hard-Exploration Problems
We introduce Adaptive Procedural Task Generation (APT-Gen), an approach ...
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Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
Large, richly annotated datasets have accelerated progress in fields suc...
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Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
The fundamental challenge of planning for multi-step manipulation is to ...
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KETO: Learning Keypoint Representations for Tool Manipulation
We aim to develop an algorithm for robots to manipulate novel objects as...
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Causal Induction from Visual Observations for Goal Directed Tasks
Causal reasoning has been an indispensable capability for humans and oth...
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Regression Planning Networks
Recent learning-to-plan methods have shown promising results on planning...
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Dual Sequential Monte Carlo: Tunneling Filtering and Planning in Continuous POMDPs
We present the DualSMC network that solves continuous POMDPs by learning...
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SURREAL-System: Fully-Integrated Stack for Distributed Deep Reinforcement Learning
We present an overview of SURREAL-System, a reproducible, flexible, and ...
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Situational Fusion of Visual Representation for Visual Navigation
A complex visual navigation task puts an agent in different situations w...
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Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning
We address one-shot imitation learning, where the goal is to execute a p...
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Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks
Contact-rich manipulation tasks in unstructured environments often requi...
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DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
A key technical challenge in performing 6D object pose estimation from R...
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RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation
Imitation Learning has empowered recent advances in learning robotic man...
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Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks
Contact-rich manipulation tasks in unstructured environments often requi...
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Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration
Our goal is for a robot to execute a previously unseen task based on a s...
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Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision
Tool manipulation is vital for facilitating robots to complete challengi...
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Reinforcement and Imitation Learning for Diverse Visuomotor Skills
We propose a model-free deep reinforcement learning method that leverage...
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AI2-THOR: An Interactive 3D Environment for Visual AI
We introduce The House Of inteRactions (THOR), a framework for visual AI...
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Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural ...
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Visual Semantic Planning using Deep Successor Representations
A crucial capability of real-world intelligent agents is their ability t...
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Scene Graph Generation by Iterative Message Passing
Understanding a visual scene goes beyond recognizing individual objects ...
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Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning
Two less addressed issues of deep reinforcement learning are (1) lack of...
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Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations
Despite progress in perceptual tasks such as image classification, compu...
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Visual7W: Grounded Question Answering in Images
We have seen great progress in basic perceptual tasks such as object rec...
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Building a Large-scale Multimodal Knowledge Base System for Answering Visual Queries
The complexity of the visual world creates significant challenges for co...
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