6 accepted papers
Tactile imaging seeks to reconstruct the internal structure of soft objects through touch sensing, with applications in medical diagnosis and robotic manipulation. Recent self-supervised learning approaches have shown promising results, but rely on global, unstructured representations and robot-cont…
Recent advancements in imitation learning for robotic control have led to transformer-based behavior foundation models (BFMs) that enable multi-modal, human-like control for humanoid agents. These models generate solutions when conditioned on high-level goals or prompts, for example, walking to a co…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder framework can learn a **representation** from a sequence of t…
Meta-reinforcement learning (meta-RL) is a promising framework for tackling challenging domains requiring efficient exploration. Existing meta-RL algorithms are characterized by low sample efficiency, and mostly focus on low-dimensional task distributions. In parallel, model-based RL methods have be…
Neural Representations have recently been shown to effectively reconstruct a wide range of signals from 3D meshes and shapes to images and videos. We show that, when adapted correctly, neural representations can be used to directly represent the weights of a pre-trained convolutional neural network,…
In meta reinforcement learning (meta RL), an agent learns from a set of training tasks how to quickly solve a new task, drawn from the same task distribution. The optimal meta RL policy, a.k.a.~the Bayes-optimal behavior, is well defined, and guarantees optimal reward in expectation, taken with resp…