6 papers
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
Krishan Rana, Jad Abou-Chakra, Sourav Garg +3
Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sampl…
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
Jad Abou-Chakra, Lingfeng Sun, Krishan Rana +5
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies…
Multi-View Pose-Agnostic Change Localization with Zero Labels
Chamuditha Jayanga Galappaththige, Jason Lai, Lloyd Windrim +3
Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and incon…
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation
Krishan Rana, Robert Lee, David Pershouse +1
Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions.…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
Reducing Label Dependency for Underwater Scene Understanding: A Survey of Datasets, Techniques and Applications
Scarlett Raine, Frederic Maire, Niko Suenderhauf +1
Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey metho…