43 citations · 86 across the 9 of their papers we have counts for
16 papers
Monocular Robot Navigation with Self-Supervised Pretrained Vision Transformers
Miguel Saavedra-Ruiz, Sacha Morin, Liam Paull
In this work, we consider the problem of learning a perception model for monocular robot navigation using few annotated images. Using a Vision Transformer (ViT) pretrained with a l…
On Assessing the Usefulness of Proxy Domains for Developing and Evaluating Embodied Agents
Anthony Courchesne, Andrea Censi, Liam Paull
In many situations it is either impossible or impractical to develop and evaluate agents entirely on the target domain on which they will be deployed. This is particularly true in…
-Cal: Calibrated aleatoric uncertainty estimation from neural networks for robot perception
Dhaivat Bhatt, Kaustubh Mani, Dishank Bansal +3
While modern deep neural networks are performant perception modules, performance (accuracy) alone is insufficient, particularly for safety-critical robotic applications such as sel…
Batch Inverse-Variance Weighting: Deep Heteroscedastic Regression
Vincent Mai, Waleed Khamies, Liam Paull
Heteroscedastic regression is the task of supervised learning where each label is subject to noise from a different distribution. This noise can be caused by the labelling process,…
gradSim: Differentiable simulation for system identification and visuomotor control
Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo +11
We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is…
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents
Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi +10
As robotics matures and increases in complexity, it is more necessary than ever that robot autonomy research be reproducible. Compared to other sciences, there are specific challen…