Publications

Working Backwards: Learning to Place by Picking
Oliver Limoyo
Abhisek Konar
Trevor Ablett
Jonathan Kelly
Francois Hogan
Gregory Dudek
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which obje… (voir plus)cts must be manipulated to specific, contact-constrained locations. With PvP, we approach the collection of robotic object placement demonstrations by reversing the grasping process and exploiting the inherent symmetry of the pick and place problems. Specifically, we obtain placing demonstrations from a set of grasp sequences of objects initially located at their target placement locations. Our system can collect hundreds of demonstrations in contact-constrained environments without human intervention using two modules: compliant control for grasping and tactile regrasping. We train a policy directly from visual observations through behavioural cloning, using the autonomously-collected demonstrations. By doing so, the policy can generalize to object placement scenarios outside of the training environment without privileged information (e.g., placing a plate picked up from a table). We validate our approach in home robot scenarios that include dishwasher loading and table setting. Our approach yields robotic placing policies that outperform policies trained with kinesthetic teaching, both in terms of success rate and data efficiency, while requiring no human supervision.
2023-12-04
ArXiv (prépublication)
doi.org
arxiv.org
Working Backwards: Learning to Place by Picking
Oliver Limoyo
Abhisek Konar
Trevor Ablett
Jonathan Kelly
Francois Hogan
Gregory Dudek
2023-12-04
ArXiv (prépublication)
doi.org
arxiv.org
Decision Diagrams in Space!
Isaac Rudich
Quentin Cappart
Manuel L'opez-Ib'anez
Michael Romer
Louis-Martin Rousseau
2023-12-03
ArXiv (prépublication)
arxiv.org
arxiv.org
Can We Learn Communication-Efficient Optimizers?
Charles-Étienne Joseph
Benjamin Thérien
Abhinav Moudgil
Boris Knyazev
Eugene Belilovsky
2023-12-02
ArXiv (prépublication)
doi.org
arxiv.org
Advancing Clinical Psychiatry: Integration of Clinical and Omics Data Using Machine Learning
Bill Qi
Yannis Trakadis
2023-12-01
Biological Psychiatry (publié)
doi.org
Automatic Head and Neck Tumor segmentation and outcome prediction relying on FDG-PET/CT images: Findings from the second edition of the HECKTOR challenge
Vincent Andrearczyk
Valentin Oreiller
Sarah Boughdad
Catherine Cheze Le Rest
Olena Tankyevych
Hesham M. Elhalawani
Mario Jreige
John O. Prior
Martin Vallières
Dimitris Visvikis
Mathieu Hatt
Adrien Depeursinge
2023-12-01
Medical Image Analysis (publié)
doi.org
Balaur: Language Model Pretraining with Lexical Semantic Relations
Andrei Mircea
Jackie Cheung
2023-12-01
Findings of the Association for Computational Linguistics: EMNLP 2023 (publié)
doi.org
openreview.net
Brain decoding of the Human Connectome Project tasks in a dense individual fMRI dataset
Shima Rastegarnia
Marie St-Laurent
Elizabeth DuPre
Basile Pinsard
Lune Bellec
2023-12-01
NeuroImage (publié)
doi.org
Can Retriever-Augmented Language Models Reason? The Blame Game Between the Retriever and the Language Model
Parishad BehnamGhader
Santiago Miret
Siva Reddy
Augmenting pretrained language models with retrievers to select the supporting documents has shown promise in effectively solving common NLP… (voir plus) problems, including language modeling and question answering, in an interpretable way. In this paper, we first study the strengths and weaknesses of different retriever-augmented language models (REALM,
2023-12-01
Findings of the Association for Computational Linguistics: EMNLP 2023 (publié)
doi.org
openreview.net
Cross-lingual Open-Retrieval Question Answering for African Languages
Odunayo Ogundepo
Tajuddeen Gwadabe
Clara E. Rivera
Jonathan H. Clark
Sebastian Ruder
David Ifeoluwa Adelani
Bonaventure F. P. Dossou
Abdou Aziz DIOP
Claytone Sikasote
Gilles Q. Hacheme
Happy Buzaaba
Ignatius Majesty Ezeani
Rooweither Mabuya
Salomey Osei
Chris Emezue
Albert Njoroge Kahira
Shamsuddeen Hassan Muhammad
Akintunde Oladipo
Abraham Toluwase Owodunni
Atnafu Lambebo Tonja … (voir 24 de plus)
Iyanuoluwa Shode
Akari Asai
Aremu Anuoluwapo
Ayodele Awokoya
Bernard Opoku
Chiamaka Ijeoma Chukwuneke
Christine Mwase
Clemencia Siro
Stephen Arthur
Tunde Oluwaseyi Ajayi
V. Otiende
Andre Niyongabo Rubungo
B. Sinkala
Daniel A. Ajisafe
Emeka Onwuegbuzia
Falalu Lawan
Ibrahim Ahmad
Jesujoba Alabi
CHINEDU EMMANUEL MBONU
Mofetoluwa Adeyemi
Mofya Phiri
Orevaoghene Ahia
Ruqayya Nasir Iro
Sonia Adhiambo
2023-12-01
Findings of the Association for Computational Linguistics: EMNLP 2023 (publié)
doi.org
Cross-lingual Open-Retrieval Question Answering for African Languages
Odunayo Ogundepo
Tajuddeen Gwadabe
Clara E. Rivera
Jonathan H. Clark
Sebastian Ruder
David Ifeoluwa Adelani
Bonaventure F. P. Dossou
Abdou Aziz DIOP
Claytone Sikasote
Gilles HACHEME
Happy Buzaaba
Ignatius Ezeani
Rooweither Mabuya
Salomey Osei
Chris Emezue
Albert Kahira
Shamsuddeen Hassan Muhammad
Akintunde Oladipo
Abraham Toluwase Owodunni
Atnafu Lambebo Tonja … (voir 32 de plus)
Iyanuoluwa Shode
Akari Asai
Tunde Oluwaseyi Ajayi
Clemencia Siro
Stephen Arthur
Mofetoluwa Adeyemi
Orevaoghene Ahia
Aremu Anuoluwapo
Oyinkansola Awosan
Chiamaka Ijeoma Chukwuneke
Bernard Opoku
Ayodele Awokoya
Verrah Akinyi Otiende
Christine Mwase
Boyd Sinkala
Andre Niyongabo Rubungo
Daniel Ajisafe
Emeka Felix Onwuegbuzia
Habib Mbow
Emile Niyomutabazi
Eunice Mukonde
Falalu Lawan
Ibrahim Ahmad
Jesujoba Oluwadara Alabi
Martin Namukombo
CHINEDU EMMANUEL MBONU
Mofya Phiri
Neo Putini
Ndumiso Mngoma
Priscilla A. Amuok
Ruqayya Nasir Iro
Sonia Adhiambo
2023-12-01
Findings of the Association for Computational Linguistics: EMNLP 2023 (publié)
doi.org
openreview.net
Current AI applications in neurology: Brain imaging
Tal Arbel
Joshua D. Durso-Finley
Jean-Pierre R. Falet
Raghav Mehta
Douglas Arnold
Nick Pawlowski
2023-12-01
Journal of the Neurological Sciences (publié)
doi.org