相关论文: Unsupervised Intuitive Physics from Visual Observa…

A first-person camera, placed at a person's head, captures, which objects are important to the camera wearer. Most prior methods for this task learn to detect such important objects from the manually labeled first-person data in a…

In this paper, we teach a machine to discover the laws of physics from video streams. We assume no prior knowledge of physics, beyond a temporal stream of bounding boxes. The problem is very difficult because a machine must learn not only a…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

In this paper, we aim to model 3D scene geometry, appearance, and the underlying physics purely from multi-view videos. By applying various governing PDEs as PINN losses or incorporating physics simulation into neural networks, existing…

Object-centric representations are a promising path toward more systematic generalization by providing flexible abstractions upon which compositional world models can be built. Recent work on simple 2D and 3D datasets has shown that models…

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…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

We propose a method for learning landmark detectors for visual objects (such as the eyes and the nose in a face) without any manual supervision. We cast this as the problem of generating images that combine the appearance of the object as…

We study how representation learning can accelerate reinforcement learning from rich observations, such as images, without relying either on domain knowledge or pixel-reconstruction. Our goal is to learn representations that both provide…

We introduce a framework that predicts the goals behind observable human action in video. Motivated by evidence in developmental psychology, we leverage video of unintentional action to learn video representations of goals without direct…

We present a novel architecture named Neural Physicist (NeurPhy) to learn physical dynamics directly from image sequences using deep neural networks. For any physical system, given the global system parameters, the time evolution of states…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…

Recent advances in 3D deep learning have shown that it is possible to train highly effective deep models for 3D shape generation, directly from 2D images. This is particularly interesting since the availability of 3D models is still limited…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Unsupervised learning poses one of the most difficult challenges in computer vision today. The task has an immense practical value with many applications in artificial intelligence and emerging technologies, as large quantities of unlabeled…

Unsupervised object-centric learning aims to represent the modular, compositional, and causal structure of a scene as a set of object representations and thereby promises to resolve many critical limitations of traditional single-vector…

Intelligent agents should be able to learn useful representations by observing changes in their environment. We model such observations as pairs of non-i.i.d. images sharing at least one of the underlying factors of variation. First, we…