相关论文: Unsupervised Learning of Object Structure and Dyna…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

Visual scenes are extremely diverse, not only because there are infinite possible combinations of objects and backgrounds but also because the observations of the same scene may vary greatly with the change of viewpoints. When observing a…

We present a learning framework that learns to recover the 3D shape, pose and texture from a single image, trained on an image collection without any ground truth 3D shape, multi-view, camera viewpoints or keypoint supervision. We approach…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

In many control problems that include vision, optimal controls can be inferred from the location of the objects in the scene. This information can be represented using feature points, which is a list of spatial locations in learned feature…

Human behavior understanding in videos is a complex, still unsolved problem and requires to accurately model motion at both the local (pixel-wise dense prediction) and global (aggregation of motion cues) levels. Current approaches based on…

The ability to detect and track objects in the visual world is a crucial skill for any intelligent agent, as it is a necessary precursor to any object-level reasoning process. Moreover, it is important that agents learn to track objects…

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to…

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…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

We introduce a novel self-supervised learning approach to learn representations of videos that are responsive to changes in the motion dynamics. Our representations can be learned from data without human annotation and provide a substantial…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

The ability to accurately predict the surrounding environment is a foundational principle of intelligence in biological and artificial agents. In recent years, a variety of approaches have been proposed for learning to predict the physical…

This paper takes a step towards temporal reasoning in a dynamically changing video, not in the pixel space that constitutes its frames, but in a latent space that describes the non-linear dynamics of the objects in its world. We introduce…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…