相关论文: Learning image representations tied to ego-motion

Learning actions that are relevant to decision-making and can be executed effectively is a key problem in autonomous robotics. Current state-of-the-art action representations in robotics lack proper effect-driven learning of the robot's…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving the place recognition problem with complex radar data. Our method is based on invariant instance feature learning but is tailored for…

Unsupervised landmark learning is the task of learning semantic keypoint-like representations without the use of expensive input keypoint-level annotations. A popular approach is to factorize an image into a pose and appearance data stream,…

Human actions are comprised of a sequence of poses. This makes videos of humans a rich and dense source of human poses. We propose an unsupervised method to learn pose features from videos that exploits a signal which is complementary to…

For ego-motion estimation, the feature representation of the scenes is crucial. Previous methods indicate that both the low-level and semantic feature-based methods can achieve promising results. Therefore, the incorporation of hierarchical…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

Unsupervised pre-training was a critical technique for training deep neural networks years ago. With sufficient labeled data and modern training techniques, it is possible to train very deep neural networks from scratch in a purely…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

Nowadays, there is an upsurge of interest in using lifelogging devices. Such devices generate huge amounts of image data; consequently, the need for automatic methods for analyzing and summarizing these data is drastically increasing. We…

This paper presents a "learning to learn" approach to figure-ground image segmentation. By exploring webly-abundant images of specific visual effects, our method can effectively learn the visual-effect internal representations in an…

Deep neural networks need a big amount of training data, while in the real world there is a scarcity of data available for training purposes. To resolve this issue unsupervised methods are used for training with limited data. In this…

Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled…

Self-supervision allows learning meaningful representations of natural images, which usually contain one central object. How well does it transfer to multi-entity scenes? We discuss key aspects of learning structured object-centric…

Estimating the parameters of a model describing a set of observations using a neural network is in general solved in a supervised way. In cases when we do not have access to the model's true parameters this approach can not be applied.…

This work explores the use of spatial context as a source of free and plentiful supervisory signal for training a rich visual representation. Given only a large, unlabeled image collection, we extract random pairs of patches from each image…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…

In visual recognition tasks, such as image classification, unsupervised learning exploits cheap unlabeled data and can help to solve these tasks more efficiently. We show that the recursive autoconvolution operator, adopted from physics,…