b'Yuke Zhu'

Dynamic Metric Learning: Towards a Scalable Metric Space to Accommodate Multiple Semantic Scales

This paper introduces a new fundamental characteristic, , the dynamic ra...
03/22/2021 ∙ by Yifan Sun, et al. ∙ 0 ∙ share

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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...
12/22/2020 ∙ by Xinlei Pan, et al. ∙ 0 ∙ share

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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-...
12/14/2020 ∙ by Yifeng Zhu, et al. ∙ 0 ∙ share

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Learning Multi-Arm Manipulation Through Collaborative Teleoperation

Imitation Learning (IL) is a powerful paradigm to teach robots to perfor...
12/12/2020 ∙ by Albert Tung, et al. ∙ 7 ∙ share

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Human-in-the-Loop Imitation Learning using Remote Teleoperation

Imitation Learning is a promising paradigm for learning complex robot ma...
12/12/2020 ∙ by Ajay Mandlekar, et al. ∙ 15 ∙ share

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Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors

Using sensor data from multiple modalities presents an opportunity to en...
12/01/2020 ∙ by Michelle A. Lee, et al. ∙ 0 ∙ share

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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 ...
11/17/2020 ∙ by Danfei Xu, et al. ∙ 0 ∙ share

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Fast Uncertainty Quantification for Deep Object Pose Estimation

Deep learning-based object pose estimators are often unreliable and over...
11/16/2020 ∙ by Guanya Shi, et al. ∙ 0 ∙ share

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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 ...
10/02/2020 ∙ by Weili Nie, et al. ∙ 10 ∙ share

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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...
09/25/2020 ∙ by Yuke Zhu, et al. ∙ 7 ∙ share

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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...
09/21/2020 ∙ by Xingye Da, et al. ∙ 0 ∙ share

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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...
08/17/2020 ∙ by Hongyu Ren, et al. ∙ 1 ∙ share

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Spherical Feature Transform for Deep Metric Learning

Data augmentation in feature space is effective to increase data diversi...
08/04/2020 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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Adaptive Procedural Task Generation for Hard-Exploration Problems

We introduce Adaptive Procedural Task Generation (APT-Gen), an approach ...
07/01/2020 ∙ by Kuan Fang, et al. ∙ 18 ∙ share

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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...
11/11/2019 ∙ by Ajay Mandlekar, et al. ∙ 0 ∙ share

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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 ...
10/29/2019 ∙ by Kuan Fang, et al. ∙ 10 ∙ share

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KETO: Learning Keypoint Representations for Tool Manipulation

We aim to develop an algorithm for robots to manipulate novel objects as...
10/26/2019 ∙ by Zengyi Qin, et al. ∙ 0 ∙ share

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Causal Induction from Visual Observations for Goal Directed Tasks

Causal reasoning has been an indispensable capability for humans and oth...
10/03/2019 ∙ by Suraj Nair, et al. ∙ 7 ∙ share

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Regression Planning Networks

Recent learning-to-plan methods have shown promising results on planning...
09/28/2019 ∙ by Danfei Xu, et al. ∙ 87 ∙ share

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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...
09/28/2019 ∙ by Yunbo Wang, et al. ∙ 15 ∙ share

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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 ...
09/27/2019 ∙ by Linxi Fan, et al. ∙ 0 ∙ share

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Situational Fusion of Visual Representation for Visual Navigation

A complex visual navigation task puts an agent in different situations w...
08/24/2019 ∙ by William B. Shen, et al. ∙ 12 ∙ share

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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...
08/16/2019 ∙ by De-An Huang, et al. ∙ 3 ∙ share

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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...
07/28/2019 ∙ by Michelle A. Lee, et al. ∙ 0 ∙ share

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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...
01/15/2019 ∙ by Chen Wang, et al. ∙ 10 ∙ share

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RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation

Imitation Learning has empowered recent advances in learning robotic man...
11/07/2018 ∙ by Ajay Mandlekar, et al. ∙ 4 ∙ share

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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...
10/24/2018 ∙ by Michelle A. Lee, et al. ∙ 4 ∙ share

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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...
07/10/2018 ∙ by De-An Huang, et al. ∙ 2 ∙ share

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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...
06/25/2018 ∙ by Kuan Fang, et al. ∙ 8 ∙ share

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Reinforcement and Imitation Learning for Diverse Visuomotor Skills

We propose a model-free deep reinforcement learning method that leverage...
02/26/2018 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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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...
12/14/2017 ∙ by Eric Kolve, et al. ∙ 0 ∙ share

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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 ...
10/04/2017 ∙ by Danfei Xu, et al. ∙ 0 ∙ share

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Visual Semantic Planning using Deep Successor Representations

A crucial capability of real-world intelligent agents is their ability t...
05/23/2017 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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Scene Graph Generation by Iterative Message Passing

Understanding a visual scene goes beyond recognizing individual objects ...
01/10/2017 ∙ by Danfei Xu, et al. ∙ 0 ∙ share

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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...
09/16/2016 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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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...
02/23/2016 ∙ by Ranjay Krishna, et al. ∙ 0 ∙ share

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Visual7W: Grounded Question Answering in Images

We have seen great progress in basic perceptual tasks such as object rec...
11/11/2015 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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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...
07/20/2015 ∙ by Yuke Zhu, et al. ∙ 0 ∙ share

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Yuke Zhu

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