자료유형  

 학위논문

Control Number  

0016931930

International Standard Book Number  

9798380382403

Dewey Decimal Classification Number  

310

Main Entry-Personal Name  

Sax, Alexander.

Publication, Distribution, etc. (Imprint  

[S.l.] : University of California, Berkeley., 2023

Publication, Distribution, etc. (Imprint  

Ann Arbor : ProQuest Dissertations & Theses, 2023

Physical Description  

1 online resource(159 p.)

General Note  

Source: Dissertations Abstracts International, Volume: 85-03, Section: B.

General Note  

Advisor: Malik, Jitendra;Zamir, Amir.

Dissertation Note  

Thesis (Ph.D.)--University of California, Berkeley, 2023.

Restrictions on Access Note  

This item must not be sold to any third party vendors.

Summary, Etc.  

요약The world is messy and imperfect, unstructured and complex, and nonetheless we must still accomplish the basic behaviors necessary for survival. It is for this purpose, ecologically relevant behavior, that vision evolved 500-600 million years ago.This thesis is about how learn representations of the visual world that are useful for the types of behaviors we might want an embodied AI system to do. In the first part of this thesis, we systematically study how bottlenecking visual inputs through different pretrained representations affects the ability of a robot to learn different atomic navigation skills (Chapter 2) and manipulation skills (Chapter 3) through trial-and-error. The main finding is that the appropriate pretrained representation greatly improves the sample efficiency for skill acquisition, and greatly improves the generalization of the learned skill. In the second part of the thesis, we use the lessons learned in order to improve the accuracy of the representations in a larger variety of contexts (indoors, outdoors, tabletop settings, and so on). In Chapter 4 we do this through adding cross-prediction consistency objectives. In Chapter 5 we do this by leveraging vast amounts of 3D data available on the internet and from a robot's prior experience.The methods are primarily developed for the purpose of vision and action, but many of the ideas are general and could work for other sensory modalities and behaviors.

Subject Added Entry-Topical Term  

Statistics.

Subject Added Entry-Topical Term  

Computer engineering.

Index Term-Uncontrolled  

Computational ethology

Index Term-Uncontrolled  

Computer vision

Index Term-Uncontrolled  

Embodied AI

Index Term-Uncontrolled  

Pretrained representations

Index Term-Uncontrolled  

Robotics

Index Term-Uncontrolled  

Transfer learning

Added Entry-Corporate Name  

University of California, Berkeley Computer Science

Host Item Entry  

Dissertations Abstracts International. 85-03B.

Host Item Entry  

Dissertation Abstract International

Electronic Location and Access  

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Control Number  

joongbu:642498