相关论文: Active Object Manipulation Facilitates Visual Obje…

Data-driven approaches for edge detection have proven effective and achieve top results on modern benchmarks. However, all current data-driven edge detectors require manual supervision for training in the form of hand-labeled region…

It is known that representations from self-supervised pre-training can perform on par, and often better, on various downstream tasks than representations from fully-supervised pre-training. This has been shown in a host of settings such as…

Humans naturally build mental models of object interactions and dynamics, allowing them to imagine how their surroundings will change if they take a certain action. While generative models today have shown impressive results on…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

Wearable cameras allow people to record their daily activities from a user-centered (First Person Vision) perspective. Due to their favorable location, wearable cameras frequently capture the hands of the user, and may thus represent a…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

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…

With the rapid development of artificial intelligence technologies and wearable devices, egocentric vision understanding has emerged as a new and challenging research direction, gradually attracting widespread attention from both academia…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

We propose a method for the weakly supervised detection of objects in paintings. At training time, only image-level annotations are needed. This, combined with the efficiency of our multiple-instance learning method, enables one to learn…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…

In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is…

Localizing objects in image collections without supervision can help to avoid expensive annotation campaigns. We propose a simple approach to this problem, that leverages the activation features of a vision transformer pre-trained in a…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

A core component of the recent success of self-supervised learning is cropping data augmentation, which selects sub-regions of an image to be used as positive views in the self-supervised loss. The underlying assumption is that randomly…

While current deep learning models achieve high performance by learning statistical correlations from vast datasets,which stands in stark contrast to human learning. They lack the flexibility of humans-particularly preverbal infants-to…

Newborn animals have advanced perceptual skills at birth, but the nature of this initial knowledge is unknown. Is initial knowledge flexible, continuously adapting to the statistics of experience? Or can initial knowledge be rigid and…