4 papers
The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction
Xunzhe Zhou, Yiyang Cai, Fengyi Wang +9
Humans imitate at the level of intent: given a demonstration, we infer its goal and carry it out with whatever tools, objects, and layouts are at hand. Current robot policies inste…
InfoAtlas: A Foundation Model for Zero-Shot Statistical Dependence Estimate
Zhengyang Hu, Yanzhi Chen, Hanxiang Ren +5
Measuring statistical dependency between high-dimensional random variables is a fundamental task in data science and machine learning. Neural mutual information (MI) estimators off…
DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation
Hanxiang Ren, Pei Zhou, Xunzhe Zhou +1
Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for ob…
ADeLA: Automatic Dense Labeling with Attention for Viewpoint Adaptation in Semantic Segmentation
Yanchao Yang, Hanxiang Ren, He Wang +5
We describe an unsupervised domain adaptation method for image content shift caused by viewpoint changes for a semantic segmentation task. Most existing methods perform domain alig…