相关论文: Time-Contrastive Networks: Self-Supervised Learnin…

Time-series representation learning can extract representations from data with temporal dynamics and sparse labels. When labeled data are sparse but unlabeled data are abundant, contrastive learning, i.e., a framework to learn a latent…

Video representation learning has recently attracted attention in computer vision due to its applications for activity and scene forecasting or vision-based planning and control. Video prediction models often learn a latent representation…

Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of…

Unsupervised object-centric learning from videos is a promising approach to extract structured representations from large, unlabeled collections of videos. To support downstream tasks like autonomous control, these representations must be…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

How do humans learn to acquire a powerful, flexible and robust representation of objects? While much of this process remains unknown, it is clear that humans do not require millions of object labels. Excitingly, recent algorithmic…

Visual-only self-supervised learning has achieved significant improvement in video representation learning. Existing related methods encourage models to learn video representations by utilizing contrastive learning or designing specific…

Self supervised representation learning has recently attracted a lot of research interest for both the audio and visual modalities. However, most works typically focus on a particular modality or feature alone and there has been very…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Identifying common patterns among events is a key ability in human and machine perception, as it underlies intelligent decision making. We propose an approach for learning semantic relational set abstractions on videos, inspired by human…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

This work explores how to use self-supervised learning on videos to learn a class-specific image embedding that encodes pose and shape information. At train time, two frames of the same video of an object class (e.g. human upper body) are…

We propose a general framework for self-supervised learning of transferable visual representations based on Video-Induced Visual Invariances (VIVI). We consider the implicit hierarchy present in the videos and make use of (i) frame-level…

Humans develop visual intelligence through perceiving and interacting with their environment - a self-supervised learning process grounded in egocentric experience. Inspired by this, we ask how can artificial systems learn stable object…

Is strong supervision necessary for learning a good visual representation? Do we really need millions of semantically-labeled images to train a Convolutional Neural Network (CNN)? In this paper, we present a simple yet surprisingly powerful…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…