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Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…
As the most fundamental scene understanding tasks, object detection and segmentation have made tremendous progress in deep learning era. Due to the expensive manual labeling cost, the annotated categories in existing datasets are often…
Recently, a few open-vocabulary methods have been proposed by employing a unified architecture to tackle generic segmentation and detection tasks. However, their performance still lags behind the task-specific models due to the conflict…
Continual learning (CL) seeks to mitigate catastrophic forgetting when models are trained with sequential tasks. A common approach, experience replay (ER), stores past exemplars but only sparsely approximates the data distribution, yielding…
Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…
This paper identifies the flaws in existing open-world learning approaches and attempts to provide a complete picture in the form of \textbf{True Open-World Learning}. We accomplish this by proposing a comprehensive generalize-able…
Temporal Action Detection and Moment Retrieval constitute two pivotal tasks in video understanding, focusing on precisely localizing temporal segments corresponding to specific actions or events. Recent advancements introduced Moment…
The temporal action segmentation task segments videos temporally and predicts action labels for all frames. Fully supervising such a segmentation model requires dense frame-wise action annotations, which are expensive and tedious to…
We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…
Sentence Boundary Detection (SBD) is one of the foundational building blocks of Natural Language Processing (NLP), with incorrectly split sentences heavily influencing the output quality of downstream tasks. It is a challenging task for…
Open World Object Detection (OWOD) is a novel computer vision task with a considerable challenge, bridging the gap between classic object detection (OD) benchmarks and real-world object detection. In addition to detecting and classifying…
We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…
Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…
We evaluate the out-of-distribution (OOD) detection performance of self-supervised learning (SSL) techniques with a new evaluation framework. Unlike the previous evaluation methods, the proposed framework adjusts the distance of OOD samples…
An intuition on human segmentation is that when a human is moving in a video, the video-context (e.g., appearance and motion clues) may potentially infer reasonable mask information for the whole human body. Inspired by this, based on…
Out-of-distribution (OOD) detection is essential for reliable and trustworthy machine learning. Recent multi-modal OOD detection leverages textual information from in-distribution (ID) class names for visual OOD detection, yet it currently…
Estimating video depth in open-world scenarios is challenging due to the diversity of videos in appearance, content motion, camera movement, and length. We present DepthCrafter, an innovative method for generating temporally consistent long…
The task of temporally grounding language queries in videos is to temporally localize the best matched video segment corresponding to a given language (sentence). It requires certain models to simultaneously perform visual and linguistic…
The advancement of knowledge distillation has played a crucial role in enabling the transfer of knowledge from larger teacher models to smaller and more efficient student models, and is particularly beneficial for online and…
We propose a novel algorithm for weakly supervised semantic segmentation based on image-level class labels only. In weakly supervised setting, it is commonly observed that trained model overly focuses on discriminative parts rather than the…