Related papers: RIO: Rotation-equivariance supervised learning of …

Contrastive pretraining provides robust representations by ensuring their invariance to different image transformations while simultaneously preventing representational collapse. Equivariant contrastive learning, on the other hand, provides…

While data augmentation is widely used to train symmetry-agnostic models, it remains unclear how quickly and effectively they learn to respect symmetries. We investigate this by deriving a principled measure of equivariance error that, for…

Longitudinal imaging is capable of capturing the static ana\-to\-mi\-cal structures and the dynamic changes of the morphology resulting from aging or disease progression. Self-supervised learning allows to learn new representation from…

The rotation prediction (Rotation) is a simple pretext-task for self-supervised learning (SSL), where models learn useful representations for target vision tasks by solving pretext-tasks. Although Rotation captures information of object…

In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…

Neural networks have led to major improvements in image classification but suffer from being non-robust to adversarial changes, unreliable uncertainty estimates on out-distribution samples and their inscrutable black-box decisions. In this…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

We propose to learn to distinguish reversible from irreversible actions for better informed decision-making in Reinforcement Learning (RL). From theoretical considerations, we show that approximate reversibility can be learned through a…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

Radar-based odometry is a popular solution for ego-motion estimation in conditions where other exteroceptive sensors may degrade, whether due to poor lighting or challenging weather conditions; however, scanning radars have the downside of…

Recent studies show that training deep neural networks (DNNs) with Lipschitz constraints are able to enhance adversarial robustness and other model properties such as stability. In this paper, we propose a layer-wise orthogonal training…

Contrastive self-supervised learning methods famously produce high quality transferable representations by learning invariances to different data augmentations. Invariances established during pre-training can be interpreted as strong…

This paper does not describe a novel method. Instead, it studies a straightforward, incremental, yet must-know baseline given the recent progress in computer vision: self-supervised learning for Vision Transformers (ViT). While the training…

Randomized smoothing (RS) is an effective and scalable technique for constructing neural network classifiers that are certifiably robust to adversarial perturbations. Most RS works focus on training a good base model that boosts the…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

Current and future high-contrast imaging instruments require extreme Adaptive Optics (XAO) systems to reach contrasts necessary to directly image exoplanets. Telescope vibrations and the temporal error induced by the latency of the control…

Prior work has established Test-Time Training (TTT) as a general framework to further improve a trained model at test time. Before making a prediction on each test instance, the model is first trained on the same instance using a…

Test-Time Training (TTT) language models achieve theoretically infinite context windows with an O(1) memory footprint by replacing the standard exact-attention KV-cache with hidden state ``fast weights'' W_fast updated via self-supervised…

Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…