相关论文: The Curious Robot: Learning Visual Representations…

Over the last decade, Computer Vision, the branch of Artificial Intelligence aimed at understanding the visual world, has evolved from simply recognizing objects in images to describing pictures, answering questions about images, aiding…

Human infants have the remarkable ability to learn the associations between object names and visual objects from inherently ambiguous experiences. Researchers in cognitive science and developmental psychology have built formal models that…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

Neural network-based systems can now learn to locate the referents of words and phrases in images, answer questions about visual scenes, and execute symbolic instructions as first-person actors in partially-observable worlds. To achieve…

We present an extension to masked autoencoders (MAE) which improves on the representations learnt by the model by explicitly encouraging the learning of higher scene-level features. We do this by: (i) the introduction of a perceptual…

Biological systems perceive the world by simultaneously processing high-dimensional inputs from modalities as diverse as vision, audition, touch, proprioception, etc. The perception models used in deep learning on the other hand are…

Computer vision is driven by the many datasets available for training or evaluating novel methods. However, each dataset has a different set of class labels, visual definition of classes, images following a specific distribution, annotation…

Although large-scale labeled data are essential for deep convolutional neural networks (ConvNets) to learn high-level semantic visual representations, it is time-consuming and impractical to collect and annotate large-scale datasets. A…

Video game playing is an extremely structured domain where algorithmic decision-making can be tested without adverse real-world consequences. While prevailing methods rely on image inputs to avoid the problem of hand-crafting state space…

Object recognition plays a fundamental role in how biological organisms perceive and interact with their environment. While the human visual system performs this task with remarkable efficiency, reproducing similar capabilities in…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to reason about spatial relations among object entities from…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Despite progress in perceptual tasks such as image classification, computers still perform poorly on cognitive tasks such as image description and question answering. Cognition is core to tasks that involve not just recognizing, but…

In order to explore and act autonomously in an environment, an agent needs to learn from the sensorimotor information that is captured while acting. By extracting the regularities in this sensorimotor stream, it can learn a model of the…

Events in natural videos typically arise from spatio-temporal interactions between actors and objects and involve multiple co-occurring activities and object classes. To capture this rich visual and semantic context, we propose using two…

We study unsupervised video representation learning that seeks to learn both motion and appearance features from unlabeled video only, which can be reused for downstream tasks such as action recognition. This task, however, is extremely…

We present a system to infer and execute a human-readable program from a real-world demonstration. The system consists of a series of neural networks to perform perception, program generation, and program execution. Leveraging convolutional…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Learning from previously collected data via behavioral cloning or offline reinforcement learning (RL) is a powerful recipe for scaling generalist agents by avoiding the need for expensive online learning. Despite strong generalization in…