7 papers · 1 filter
Federated Subspace Guided Vision-Language-Action Policy Distillation for Non-IID Multi-Robot Manipulation
Biprodip Pal, Kaushik Roy, Yanming Zhu +3
Federated learning offers a natural way for multiple robots to jointly improve manipulation policies without requiring centralized access to training demonstrations. However, non-I…
Geometry-Conditioned Visual Place Recognition in Natural Environments
Walter Nedov, Saimunur Rahman, Kavindie Katuwandeniya +3
Visual Place Recognition (VPR) in natural environments remains challenging due to repetitive vegetation, sparse distinctive landmarks, and substantial appearance and viewpoint vari…
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
Giovanni D'urso, Kaushik Roy, Nicholas Lawrance +1
Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies remain brittle to visual `nuisances', with even minor task-preserving v…
TOLiD: Bridging the Architecture Gap in Vision Foundation Model to LiDAR Pretraining via Token Lifting for Distillation
Sutharsan Mahendran, Darshana Priyasad, Kaushik Roy +4
Cross-modal distillation from Vision Foundation Models (VFMs) to LiDAR backbones has recently emerged as a self-supervised pretraining strategy that reduces reliance on dense point…
Visual Place Recognition in Forests with Depth-Aware Distillation
Walter Nedov, Saimunur Rahman, Kavindie Katuwandeniya +3
Visual place recognition in natural forest environments remains challenging due to repetitive vegetation, weak structural cues, and significant appearance variation across traversa…
SPREAD: Subspace Representation Distillation for Lifelong Imitation Learning
Kaushik Roy, Giovanni D'urso, Nicholas Lawrance +2
A key challenge in lifelong imitation learning (LIL) is enabling agents to acquire new skills from expert demonstrations while retaining prior knowledge. This requires preserving t…
WildCross: A Cross-Modal Large Scale Benchmark for Place Recognition and Metric Depth Estimation in Natural Environments
Joshua Knights, Joseph Reid, Kaushik Roy +3
Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understan…