FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2893283434> ?p ?o ?g. }

• W2893283434 abstract "Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or adversarial bumps that make them drop the manipulated object. They also tend to be distracted by visual disturbances such as objects moving in the robot's field of view, even if the disturbance does not physically prevent the execution of the task. In this paper, we propose an approach for augmenting a deep visuomotor policy trained through demonstrations with Task Focused visual Attention (TFA). The manipulation task is specified with a natural language text such as `move the red bowl to the left'. This allows the visual attention component to concentrate on the current object that the robot needs to manipulate. We show that even in benign environments, the TFA allows the policy to consistently outperform a variant with no attention mechanism. More importantly, the new policy is significantly more robust: it regularly recovers from severe physical disturbances (such as bumps causing it to drop the object) from which the baseline policy, i.e. with no visual attention, almost never recovers. In addition, we show that the proposed policy performs correctly in the presence of a wide class of visual disturbances, exhibiting a behavior reminiscent of human selective visual attention experiments. Our proposed approach consists of a VAE-GAN network which encodes the visual input and feeds it to a Motor network that moves the robot joints. Also, our approach benefits from a teacher network for the TFA that leverages textual input command to robustify the visual encoder against various types of disturbances." @default.
• W2893283434 created "2018-10-05" @default.
• W2893283434 creator A5025838584 @default.
• W2893283434 creator A5036501453 @default.
• W2893283434 creator A5042166639 @default.
• W2893283434 creator A5080823547 @default.
• W2893283434 date "2018-09-26" @default.
• W2893283434 modified "2023-10-16" @default.
• W2893283434 title "Pay attention! - Robustifying a Deep Visuomotor Policy through Task-Focused Attention" @default.
• W2893283434 cites W1579853615 @default.
• W2893283434 cites W1598695402 @default.
• W2893283434 cites W1686810756 @default.
• W2893283434 cites W1810943226 @default.
• W2893283434 cites W1821462560 @default.
• W2893283434 cites W2202109488 @default.
• W2893283434 cites W2210483910 @default.
• W2893283434 cites W2236233024 @default.
• W2893283434 cites W2294370754 @default.
• W2893283434 cites W2432004435 @default.
• W2893283434 cites W2528489519 @default.
• W2893283434 cites W2604433135 @default.
• W2893283434 cites W2605287558 @default.
• W2893283434 cites W2725320964 @default.
• W2893283434 cites W2732016772 @default.
• W2893283434 cites W2745990901 @default.
• W2893283434 cites W2784458614 @default.
• W2893283434 cites W2785962646 @default.
• W2893283434 cites W2808492412 @default.
• W2893283434 cites W2950178297 @default.
• W2893283434 cites W2951004968 @default.
• W2893283434 cites W2953022248 @default.
• W2893283434 cites W2962736495 @default.
• W2893283434 cites W2963094133 @default.
• W2893283434 cites W2963954913 @default.
• W2893283434 cites W2964157221 @default.
• W2893283434 cites W2964161785 @default.
• W2893283434 hasPublicationYear "2018" @default.
• W2893283434 type Work @default.
• W2893283434 sameAs 2893283434 @default.
• W2893283434 citedByCount "1" @default.
• W2893283434 countsByYear W28932834342018 @default.
• W2893283434 crossrefType "posted-content" @default.
• W2893283434 hasAuthorship W2893283434A5025838584 @default.
• W2893283434 hasAuthorship W2893283434A5036501453 @default.
• W2893283434 hasAuthorship W2893283434A5042166639 @default.
• W2893283434 hasAuthorship W2893283434A5080823547 @default.
• W2893283434 hasConcept C107457646 @default.
• W2893283434 hasConcept C127413603 @default.
• W2893283434 hasConcept C140441792 @default.
• W2893283434 hasConcept C154945302 @default.
• W2893283434 hasConcept C15744967 @default.
• W2893283434 hasConcept C169760540 @default.
• W2893283434 hasConcept C169900460 @default.
• W2893283434 hasConcept C180747234 @default.
• W2893283434 hasConcept C201995342 @default.
• W2893283434 hasConcept C22304111 @default.
• W2893283434 hasConcept C2780451532 @default.
• W2893283434 hasConcept C2781238097 @default.
• W2893283434 hasConcept C31972630 @default.
• W2893283434 hasConcept C37736160 @default.
• W2893283434 hasConcept C41008148 @default.
• W2893283434 hasConcept C90509273 @default.
• W2893283434 hasConceptScore W2893283434C107457646 @default.
• W2893283434 hasConceptScore W2893283434C127413603 @default.
• W2893283434 hasConceptScore W2893283434C140441792 @default.
• W2893283434 hasConceptScore W2893283434C154945302 @default.
• W2893283434 hasConceptScore W2893283434C15744967 @default.
• W2893283434 hasConceptScore W2893283434C169760540 @default.
• W2893283434 hasConceptScore W2893283434C169900460 @default.
• W2893283434 hasConceptScore W2893283434C180747234 @default.
• W2893283434 hasConceptScore W2893283434C201995342 @default.
• W2893283434 hasConceptScore W2893283434C22304111 @default.
• W2893283434 hasConceptScore W2893283434C2780451532 @default.
• W2893283434 hasConceptScore W2893283434C2781238097 @default.
• W2893283434 hasConceptScore W2893283434C31972630 @default.
• W2893283434 hasConceptScore W2893283434C37736160 @default.
• W2893283434 hasConceptScore W2893283434C41008148 @default.
• W2893283434 hasConceptScore W2893283434C90509273 @default.
• W2893283434 hasLocation W28932834341 @default.
• W2893283434 hasOpenAccess W2893283434 @default.
• W2893283434 hasPrimaryLocation W28932834341 @default.
• W2893283434 hasRelatedWork W1532063363 @default.
• W2893283434 hasRelatedWork W1556499654 @default.
• W2893283434 hasRelatedWork W1684903757 @default.
• W2893283434 hasRelatedWork W1866105685 @default.
• W2893283434 hasRelatedWork W1981989705 @default.
• W2893283434 hasRelatedWork W2071018821 @default.
• W2893283434 hasRelatedWork W2464333642 @default.
• W2893283434 hasRelatedWork W2484180870 @default.
• W2893283434 hasRelatedWork W2570477374 @default.
• W2893283434 hasRelatedWork W2800526078 @default.
• W2893283434 hasRelatedWork W2901301243 @default.
• W2893283434 hasRelatedWork W2959105467 @default.
• W2893283434 hasRelatedWork W2963195169 @default.
• W2893283434 hasRelatedWork W3005510649 @default.
• W2893283434 hasRelatedWork W3036781519 @default.
• W2893283434 hasRelatedWork W3098143573 @default.
• W2893283434 hasRelatedWork W3109667662 @default.
• W2893283434 hasRelatedWork W3146206654 @default.
• W2893283434 hasRelatedWork W3185989052 @default.

• next