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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Learning Less Generalizable Patterns with an Asymmetrical...
Thomas Duboudin</name> <arxiv:affiliation>imagine</arxiv:a · 2022-10-17 · via cs.RO updates on arXiv.org

Deep neural networks often fail to generalize outside of their training distribution, in particular when only a single data domain is available during training. While test-time adaptation has yielded encouraging results in this setting, we argue that, to reach further improvements, these approaches should be combined with training procedure modifications aiming to learn a more diverse set of patterns. Indeed, test-time adaptation methods usually have to rely on a limited representation because of the shortcut learning phenomenon: only a subset of the available predictive patterns is learned with standard training. In this paper, we first show that the combined use of existing training-time strategies, and test-time batch normalization, a simple adaptation method, does not always improve upon the test-time adaptation alone on the PACS benchmark. Furthermore, experiments on Office-Home show that very few training-time methods improve upon standard training, with or without test-time batch normalization. We therefore propose a novel approach using a pair of classifiers and a shortcut patterns avoidance loss that mitigates the shortcut learning behavior by reducing the generalization ability of the secondary classifier, using the additional shortcut patterns avoidance loss that encourages the learning of samples specific patterns. The primary classifier is trained normally, resulting in the learning of both the natural and the more complex, less generalizable, features. Our experiments show that our method improves upon the state-of-the-art results on both benchmarks and benefits the most to test-time batch normalization.